From 97edff950f389cc9c7880ed2e7ba4b3a652e3539 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Fri, 12 Jul 2019 16:38:45 +0200
Subject: [PATCH 01/96] fix World::getTransform (#1553)

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

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

From 56b7c61a88287bf027415d96ce038de668d2e05a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 12 Jul 2019 21:18:20 +0200
Subject: [PATCH 02/96] add RobotTrajectory::getDuration() (#1554)

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

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

From b853c6bc48c41af7475db8cbb4d11078bb8725eb Mon Sep 17 00:00:00 2001
From: Bianca Homberg <bianca@ironox.com>
Date: Tue, 16 Jul 2019 03:05:06 -0700
Subject: [PATCH 03/96] Ensure that if time parameterization fails, error is
 appropriately propogated (#1562)

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

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

From 6c7e84c4c5185cf86c4b1daa1bdf898fd9a1e3fc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 19 Jul 2019 12:10:27 +0200
Subject: [PATCH 04/96] Use portable string() on filesystem::path. (#1571)

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

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

From fd0a52ebcc04accd1a9e0ef73fc7314ebbd3fc27 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 25 Jul 2019 08:56:02 -0600
Subject: [PATCH 05/96] MoveIt benchmark improvements (#1510)

* Add pseudo experiment all_experiments to allow comparing all entries

* Expose loadBenchmarkQueryData() for setting up custom queries

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

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

* Add trajectory similarity function to measure repeatability

* Address requested changes

* Fill empty fields in all_experiments

* Improve variable and function names

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

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

From 3cb561de9efb1a41792baabb9a62d72dcc2c1693 Mon Sep 17 00:00:00 2001
From: Dale Koenig <dale.koenig@rapyuta-robotics.com>
Date: Wed, 31 Jul 2019 22:13:13 +0900
Subject: [PATCH 06/96] JogArm: Remove dependency on move_group node (#1569)

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

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

From bc45aecc465daff77efe2b6c4f92f7c972925bbe Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Wed, 31 Jul 2019 15:23:19 +0200
Subject: [PATCH 07/96] clang-tidy fixup (#1586)

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

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

From 985e34c2f6e9a91f4fe2bec9168eca366454e238 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Fri, 2 Aug 2019 06:42:48 -0400
Subject: [PATCH 08/96] Remove ! from MoveIt name (#1590)

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

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

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

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

From 8e9cc3cfcf01ce0df09f010a023e364c6fb6c6a2 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 7 Aug 2019 05:44:53 -0600
Subject: [PATCH 09/96] Small tweaks to the pull request template (#1582)

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

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

From bd3a2396750b1ba4fd632511c2496bc81ab54661 Mon Sep 17 00:00:00 2001
From: SansoneG <50736605+SansoneG@users.noreply.github.com>
Date: Wed, 7 Aug 2019 14:12:37 +0200
Subject: [PATCH 10/96] Change 2nd order Butterworth low pass filter to 1st
 order (#1483)

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

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

From f2bd6e9315831e10b83d3729d34bdcb74adb6ee1 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 7 Aug 2019 07:53:20 -0600
Subject: [PATCH 11/96] Rename lm to link_model (#1592)

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

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

From 5199813dc7359cd56c4c6dcf31789423a07f3284 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 7 Aug 2019 10:06:34 -0500
Subject: [PATCH 12/96] Sudden stop for critical issues, filtered deceleration
 otherwise (#1468)

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

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

From 9cf3e34adc249a7e7accce2c5f0ada836d3e264c Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 8 Aug 2019 12:54:26 -0600
Subject: [PATCH 13/96] Document discretization behavior in KinematicsBase
 (#1602)

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

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

From ee7605a93db9513bdc29679bbe4aa1210908c823 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 8 Aug 2019 21:10:03 +0200
Subject: [PATCH 14/96] jog_arm: Use UR5 example (#1605)

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

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

From e43d73d43c2862cfff36325bc6d9aeacec44af78 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 8 Aug 2019 13:13:58 -0600
Subject: [PATCH 15/96] Switch moveit_msgs to master branch (#1604)

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

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

From 254ad5ea2fff66a4b29a12f8d255ce5856de79f4 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 8 Aug 2019 13:46:49 -0600
Subject: [PATCH 16/96] README: Remove ROS Indigo badges, Add FOSS badge
 (#1588)

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

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

From 81960face532f74ffef2f1e10d9b03af9e433c44 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 8 Aug 2019 21:53:07 +0200
Subject: [PATCH 17/96] TrajectoryMonitor: disable recording with zero sampling
 frequency disables recording (#1542)

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

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

From 9e646a3c72bb15e222cc0b35fa195be44f5764e8 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Fri, 9 Aug 2019 05:45:55 -0700
Subject: [PATCH 18/96] Use CMAKE_CXX_STANDARD to enforce c++14 for portability
 (#1607)

* favor CMAKE_CXX_STANDARD to enforce c++14

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

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

From 57edb1e9f1869ef6ef9a29c272d11f9da592fbfb Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Fri, 9 Aug 2019 17:06:41 +0200
Subject: [PATCH 19/96] PSI: use LOGNAME

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

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

From 39670f65d9dddeb67f455f2deeec3ff378074abd Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Fri, 9 Aug 2019 16:53:48 +0200
Subject: [PATCH 20/96] PSI: wait for its two services

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

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

From 295b3b2a1a829ca63f30533a3b3e1678b8a4dacf Mon Sep 17 00:00:00 2001
From: Mohmmad Ayman <no.future2e1@gmail.com>
Date: Fri, 9 Aug 2019 19:22:47 +0200
Subject: [PATCH 21/96] Add joint state controller config by default (#1024)

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

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

From 58224a68dcf2712c798469748210a85e1894e1bd Mon Sep 17 00:00:00 2001
From: Raphael Druon <raphdruon@gmail.com>
Date: Mon, 12 Aug 2019 17:04:30 +0900
Subject: [PATCH 22/96] Update occupancy grid when loaded from file (#1594)

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

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

From 73feeb8ba53fac1e8bac3b07cf60320b9217caea Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Mon, 12 Aug 2019 11:57:06 +0200
Subject: [PATCH 23/96] Separate moveit_experimental packages (#1606)

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

* adapt package location

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

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

From ae3d522ceb2059b9fd9163be3dbfba5f9a46003e Mon Sep 17 00:00:00 2001
From: Jonathan Binney <jon.binney@gmail.com>
Date: Tue, 13 Aug 2019 00:44:54 -0700
Subject: [PATCH 24/96] Switch from include guards to pragma once (#1615)

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

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

From a6f8ff994172ba504fecfeddbaf9de02a75010e1 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Tue, 13 Aug 2019 04:49:19 -0500
Subject: [PATCH 25/96] Update jog_arm README with rviz config (#1614)

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

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

From 9ddbfb25c92c35559090a6c8a3a1a2b501fa6653 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Tue, 13 Aug 2019 11:44:42 -0700
Subject: [PATCH 26/96] Fix binary artifact install locations. (#1575)

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

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

From 889447f2dfe6bb997f7a32dd61069008018b0ec8 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Tue, 13 Aug 2019 13:41:37 -0600
Subject: [PATCH 27/96] Remove packages without Jenkins badges (#1617)

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

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

From eae8f02070fd05ea4c53b476624a469eea7ca362 Mon Sep 17 00:00:00 2001
From: Jonathan Binney <jon.binney@gmail.com>
Date: Tue, 13 Aug 2019 21:31:22 -0700
Subject: [PATCH 28/96] Use standard cmake text for metapackages (#1620)

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

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

From d7e0dfde20cd9c601190aca1f20db71b5a898255 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Wed, 14 Aug 2019 09:17:13 +0300
Subject: [PATCH 29/96] Use QDir::currentPath() rather than getenv("PWD")
 (#1618)

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

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

From f231ad7155090720ccaab265607e19f5fb2c7fc8 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Wed, 14 Aug 2019 00:29:46 -0700
Subject: [PATCH 30/96] remove GCC extension and alternative operator usage.
 (#1583)

replace the gcc extension and alternative operator usage

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

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

From 70537f037a87fbfa8bb51586cac247fd59a58e53 Mon Sep 17 00:00:00 2001
From: Daniel Wang <daniel.wang@canonical.com>
Date: Wed, 14 Aug 2019 18:46:27 -0700
Subject: [PATCH 31/96] fix the invalid iterator issue (#1623)

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

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

From 4acd3a75e4f5fdf3fdd1ac147648529758968c36 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Wed, 7 Aug 2019 14:01:55 -0600
Subject: [PATCH 32/96] Support benchmarking of full planning pipelines (#1531)

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

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

From af106bed1f1188ce85b4c7b6558c9d26ea773a65 Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Thu, 15 Aug 2019 16:53:09 +0300
Subject: [PATCH 33/96] newRobotStateCallback(): use new .hide member of
 DisplayRobotState msg to visually hide the robot

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

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

From f6a24033bf784d4a299bd185a92480fa6bb592ef Mon Sep 17 00:00:00 2001
From: Omid Heidari <omid.github@gmail.com>
Date: Thu, 15 Aug 2019 16:17:10 -0600
Subject: [PATCH 34/96] MVP TrajOpt Planner Plugin (#1593)

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

* TrajOpt Planner (Empty Template) (#1478)

* Created EmptyPlan, a MoveIt planning plugin template

* added trajopt from example_planner

* fixed trajopt_planner_mannager

* modified emaptyplan_planner_manager.cpp

* applied Dave's modifications

* The rest of the modifications from Dave's comments

* removed moveit_ros_planning dependency from package.xml

* fixed clangformat error and dependency issu

* added include directory

* edited package.xml

* added include

* remove include

* remove version_gte from package.xml

* updated the setup assitant to work with trajopt planner

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

* Update moveit_planners/trajopt/src/trajopt_planner_manager.cpp

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

* added README
added description to trajopt_interface_plugin_description.xml

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

* added trajopt_interface class

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

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

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

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

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

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

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

* handled reading the request from MotionPlanning Display in RViz

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

* clang format

* applied Henning's comments

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

* clang format

* addressed the comments

* renamed hatch to addObjectiveTerms

* added a unittest for goal tolerance

* addressed Dave's comments

* added catkin_ignore

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

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

From 590a9c36d80ab55882d77f4c349c6344680a499b Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Fri, 16 Aug 2019 02:56:56 +0200
Subject: [PATCH 35/96] Add parameter to get_jacobian_matrix (#1595)

* Add parameter to getJacobian Python interface

* Add changes

* Overload wrapper

* Add test for reference_point_position

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

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

From 0957a61ac2943cbe6cba52c38e83d0b0fe9a09a8 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Thu, 15 Aug 2019 22:16:29 +0200
Subject: [PATCH 36/96] hide display state: sanity-check to allow for empty
 state input

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

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

From b0f01b2dc79f99f5650933834c8e50905bdbe168 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Thu, 15 Aug 2019 22:22:32 +0200
Subject: [PATCH 37/96] display robot state: do not clutter rviz with default
 robot on enable

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

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

From c5e88677654654f0f8aca9945bd1bd2205616958 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sat, 17 Aug 2019 12:34:32 +0200
Subject: [PATCH 38/96] add status to warn if RobotState display is hidden

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

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

From 3854f7b58201c7590514828018e2ba1d70c60166 Mon Sep 17 00:00:00 2001
From: Raphael Druon <raphdruon@gmail.com>
Date: Sat, 17 Aug 2019 20:40:39 +0900
Subject: [PATCH 39/96] python planning_scene_interface: fix attaching objects
 (#1624)

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

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

From 2e2552fef6b0a84b27db51a8c0bf319942019b4d Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Sat, 17 Aug 2019 15:33:34 +0200
Subject: [PATCH 40/96] Benchmark combinations of predefined poses (#1548)

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

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

From e7bc01e9d5557f0ad63724be65197d1bde15333c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Sat, 17 Aug 2019 17:18:58 +0200
Subject: [PATCH 41/96] PlanningRequestAdapter::initialize() = 0 (#1621)

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

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

From 4ca54cd0cda1bc0ceef072d769357ce3802e62da Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Mon, 19 Aug 2019 11:23:58 +0200
Subject: [PATCH 42/96] move isEmpty test functions to moveit_core/utils
 (#1627)

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

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

From 1f4de10e72e2a414a6df421df396a84677e8af5f Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Wed, 21 Aug 2019 04:35:47 -0700
Subject: [PATCH 43/96] favor ros::Duration.sleep over sleep. (#1634)

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

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

From 8066a509ddb3a4c61ca2ebe2add8f0e2997e95d0 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Wed, 21 Aug 2019 17:13:13 +0200
Subject: [PATCH 44/96] Unified Collision Environment Integration (#1584)

* Unified collision environment

* Integrating FCL unified environment into the planning scene

* Distance field collision environment

* Collision distance field and hybrid compiles

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

* Unified all_valid collision detector

* Replace references to CollisionWorld / CollisionRobot to new CollisionEnv

* SBPL planner adapted for unified collision environment

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

* Added change description to migration notes.

* Replaced getCollisionWorld/Robot with getCollisionEnv functions

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

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

From 39171c81f53a5ef8253c8e319cb760a0cc4727ce Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Wed, 21 Aug 2019 19:10:52 +0200
Subject: [PATCH 45/96] Cleanup launch + config files (#1631)

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

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

From 06d67ab119fd7fda0e45db8a59a7554fa7d55bbb Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Wed, 21 Aug 2019 23:04:49 +0200
Subject: [PATCH 46/96] Fix clang-tidy for unified collision environment
 (#1638)

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

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

From c384470cbe67c3647a4e30ef65af77c2095d4a0a Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 22 Aug 2019 15:47:55 +0200
Subject: [PATCH 47/96] Fix clang-tidy issues

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

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

From d6c2236653e8cbac1c1eb485ee241acb1668cf57 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Thu, 22 Aug 2019 19:33:58 +0200
Subject: [PATCH 48/96] Changed migration notes for new unified collision
 environment. (#1639)

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

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

From b7b4197d79328e04111647004fbae1b7483a090e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 22 Aug 2019 17:27:40 +0200
Subject: [PATCH 49/96] fix clang-format

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

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

From e6d0f3442c39e2b6948f443ccd2e93be190c4a61 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Thu, 22 Aug 2019 10:44:55 -0700
Subject: [PATCH 50/96] fallback to using pyreadline for Window. (#1635)

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

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

From 48c326a0badc11a54c5ab2a441436c2485ee423c Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Tue, 27 Aug 2019 14:56:41 +0300
Subject: [PATCH 51/96] Handle the updated plan() function of
 MoveGroupCommander (#1640)

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

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

From e2bfd7198b2c645a4baeba3f6fffb336f4399600 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Tue, 27 Aug 2019 06:21:21 -0700
Subject: [PATCH 52/96] Use `.pyd` as the output suffix for Python module on
 Windows. (#1637)

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

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

From 57d4a4acd20bd6c371faf956acbba4281a31e3fe Mon Sep 17 00:00:00 2001
From: Paul Verhoeckx <43780894+PaulRuvu@users.noreply.github.com>
Date: Tue, 27 Aug 2019 16:38:09 +0200
Subject: [PATCH 53/96] jog_arm: Do not wait for command msg to start spinning
 (#1603)

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

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

From 0ef84b85430a514fb9c095b8085954b582e2a38c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Thu, 29 Aug 2019 17:04:25 +0200
Subject: [PATCH 54/96] Cleanup OMPL dynamic reconfigure config (#1649)

* reduce minimum number of waypoints in solution to 2

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

Fixes #19.

* ompl dyn reconfig: clean wrongly specified levels

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

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

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

From a9f232331a8d6f7f9f6d69ab30f44672334906a2 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Fri, 30 Aug 2019 01:46:30 -0700
Subject: [PATCH 55/96] [windows] some more header inclusion and MSVC build
 error fixes. (#1636)

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

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

From 84db86fdf91cf8d6b8ec495d11d47970b46caaa1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Fri, 30 Aug 2019 15:31:24 +0200
Subject: [PATCH 56/96] depth_image_octomap_updater: correctly set properties
 of debug images (#1652) (#1653)

* calculate step width independent from input depth image

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

* depth updater: streamline Image properties

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

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

From 8fcff1db6d4eb7c04236ad532f0e54b2804a6b6f Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Sat, 31 Aug 2019 20:38:41 +0200
Subject: [PATCH 57/96] chomp: fix potential calculation (#1651)

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

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

From 062381c75847ab8dc68e022e8987ebf514c8484b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Michael=20G=C3=B6rner?= <me@v4hn.de>
Date: Thu, 12 Sep 2019 10:54:56 +0200
Subject: [PATCH 58/96] Fix plot details, correcting xlabels positions and
 cleaning the graph (#1658) (#1668)

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

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

From cbe534a72639c46212d9c6caa9ee2f4c01ccd0a0 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Tue, 17 Sep 2019 11:22:47 +0200
Subject: [PATCH 59/96] Migration notes for unified collision environment
 (#1647)

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

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

From 871f3a0ded8acad77c658ce70c76855bb4ff3292 Mon Sep 17 00:00:00 2001
From: Jens P <petit.jens@gmail.com>
Date: Tue, 17 Sep 2019 11:23:20 +0200
Subject: [PATCH 60/96] Adding documentation to collision detection (#1645)

* Collision detection documentation from #1488

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

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

From ff71fc44bfead147b252dccefb78bee5d894841c Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Thu, 19 Sep 2019 08:20:41 -0700
Subject: [PATCH 61/96] Rename jog_arm->moveit_jog_arm (#1663)

* Rename jog_arm->moveit_jog_arm

* Address @rhaschke's feedback

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

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

From ff8f1d8503d907789acca7ef3a84f8c361bd8749 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 19 Sep 2019 19:32:25 +0200
Subject: [PATCH 62/96] Fix double mutex unlock (#1672)

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

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

From 981502382050651621829eb0ad1e945deb4c6520 Mon Sep 17 00:00:00 2001
From: Omid Heidari <omid@picknik.ai>
Date: Tue, 11 Jun 2019 18:51:26 -0600
Subject: [PATCH 63/96] TrajOpt Planner (Empty Template) (#1478)

* Created EmptyPlan, a MoveIt planning plugin template

* added trajopt from example_planner

* fixed trajopt_planner_mannager

* modified emaptyplan_planner_manager.cpp

* applied Dave's modifications

* The rest of the modifications from Dave's comments

* removed moveit_ros_planning dependency from package.xml

* fixed clangformat error and dependency issu

* added include directory

* edited package.xml

* added include

* remove include

* remove version_gte from package.xml

* updated the setup assitant to work with trajopt planner

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

* Update moveit_planners/trajopt/src/trajopt_planner_manager.cpp

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

* added README
added description to trajopt_interface_plugin_description.xml
---
 moveit_planners/trajopt/CMakeLists.txt        | 29 +++++++++++++++++++
 .../widgets/configuration_files_widget.cpp    | 21 ++++++++++++++
 2 files changed, 50 insertions(+)

diff --git a/moveit_planners/trajopt/CMakeLists.txt b/moveit_planners/trajopt/CMakeLists.txt
index f93e000d34..344c2b0c31 100644
--- a/moveit_planners/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/CMakeLists.txt
@@ -7,6 +7,7 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
+<<<<<<< HEAD
 find_package(catkin REQUIRED
     COMPONENTS
       moveit_core
@@ -62,10 +63,28 @@ set_target_properties(
   VERSION
   "${${PROJECT_NAME}_VERSION}"
 )
+=======
+find_package(catkin REQUIRED COMPONENTS
+  moveit_core
+  roscpp
+  pluginlib
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+    moveit_core
+)
+
+# The following include_directory should have include folder of the new planner.
+include_directories(${Boost_INCLUDE_DIRS}
+                    ${catkin_INCLUDE_DIRS}
+                    ${TrajOpt_INCLUDE_DIRS})
+>>>>>>> TrajOpt Planner (Empty Template) (#1478)
 
 # TrajOpt planning plugin
 add_library(moveit_trajopt_planner_plugin src/trajopt_planner_manager.cpp)
 set_target_properties(moveit_trajopt_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+<<<<<<< HEAD
 target_link_libraries(moveit_trajopt_planner_plugin ${PROJECT_NAME} ${catkin_LIBRARIES})
 
 #############
@@ -111,3 +130,13 @@ if(CATKIN_ENABLE_TESTING)
   )
 
 endif()
+=======
+
+install(TARGETS
+  moveit_trajopt_planner_plugin
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(FILES trajopt_interface_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+>>>>>>> TrajOpt Planner (Empty Template) (#1478)
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index 5356e9801b..a2b9e1f03b 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -374,6 +374,18 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;
   gen_files_.push_back(file);
 
+  // trajopt_planning_pipeline.launch
+  // --------------------------------------------------------------------------------------
+  file.file_name_ = "trajopt_planning_pipeline.launch.xml";
+  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
+  template_path = config_data_->appendPaths(template_launch_path, file.file_name_);
+  file.description_ = "Intended to be included in other launch files that require the TrajOpt planning plugin. Defines "
+                      "the proper plugin name on the parameter server and a default selection of planning request "
+                      "adapters.";
+  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
+  file.write_on_changes = 0;
+  gen_files_.push_back(file);
+
   // chomp_planning_pipeline.launch
   // --------------------------------------------------------------------------------------
   file.file_name_ = "chomp_planning_pipeline.launch.xml";
@@ -431,6 +443,15 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;
   gen_files_.push_back(file);
 
+  // run_benchmark_trajopt.launch --------------------------------------------------------------------------------------
+  file.file_name_ = "run_benchmark_trajopt.launch";
+  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
+  template_path = config_data_->appendPaths(template_launch_path, file.file_name_);
+  file.description_ = "Launch file for benchmarking TrajOpt planners";
+  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
+  file.write_on_changes = 0;
+  gen_files_.push_back(file);
+
   // sensor_manager.launch --------------------------------------------------------------------------------------
   file.file_name_ = "sensor_manager.launch.xml";
   file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);

From 0c7664af302868287d3948288e1ba73d0198135b Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 6 Jun 2019 19:31:17 -0600
Subject: [PATCH 64/96] added solve from tesseract. added launch file improved
 test_trajopt node edited package.xml

---
 moveit_planners/trajopt/config/setup.yaml     |   0
 .../include/trajopt_planning_context.h        |  84 +++++++
 .../trajopt/launch/gdb_settings.gdb           |   8 +
 .../trajopt/launch/test_trajopt_launch.launch |  27 ++
 moveit_planners/trajopt/src/test_trajopt.cpp  | 230 ++++++++++++++++++
 5 files changed, 349 insertions(+)
 create mode 100644 moveit_planners/trajopt/config/setup.yaml
 create mode 100644 moveit_planners/trajopt/include/trajopt_planning_context.h
 create mode 100644 moveit_planners/trajopt/launch/gdb_settings.gdb
 create mode 100644 moveit_planners/trajopt/launch/test_trajopt_launch.launch
 create mode 100644 moveit_planners/trajopt/src/test_trajopt.cpp

diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
new file mode 100644
index 0000000000..3866c51c10
--- /dev/null
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -0,0 +1,84 @@
+#ifndef TrajOpt_PLANNING_CONTEXT_H
+#define TrajOpt_PLANNING_CONTEXT_H
+
+#include <moveit/planning_interface/planning_request.h>
+#include <moveit/planning_interface/planning_response.h>
+#include <moveit/planning_interface/planning_interface.h>
+
+#include <trajopt/plot_callback.hpp>
+#include <trajopt/file_write_callback.hpp>
+#include <trajopt/problem_description.hpp>
+#include <trajopt_utils/config.hpp>
+#include <trajopt_utils/logging.hpp>
+
+#include <tesseract_planning/basic_planner_types.h>
+
+#include <trajopt_sco/solver_interface.hpp>
+
+//using namespace trajopt;
+
+namespace trajopt_interface
+{
+
+MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
+
+struct TrajOptPlannerConfiguration{
+
+  TrajOptPlannerConfiguration() {}
+  virtual ~TrajOptPlannerConfiguration() {}
+
+  /** @brief Trajopt problem to be solved (Required) */
+  //  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(sco::ModelType::AUTO_SOLVER));
+
+  std::string model_type; // sco::ModelType::AUTO_SOLVER
+  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(model_type));
+
+
+  /** @brief Optimization parameters to be used (Optional) */
+  sco::BasicTrustRegionSQPParameters params;
+
+  /** @brief Callback functions called on each iteration of the optimization (Optional) */
+  //std::vector<sco::Optimizer::Callback> callbacks;
+  sco::Optimizer::Callback callbacks;
+
+};
+
+TrajOptPlannerConfiguration spec_;
+
+class TrajOptPlanningContext : public planning_interface::PlanningContext
+{
+public:
+  TrajOptPlanningContext(const std::string& name, const std::string& group,
+                         const robot_model::RobotModelConstPtr& model);
+  ~TrajOptPlanningContext() override
+  {
+  }
+
+  bool solve(planning_interface::MotionPlanResponse& res) override;
+  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;
+
+  bool terminate() override;
+  void clear() override;
+
+  void setTrajOptPlannerConfiguration();
+
+
+
+protected:
+
+private:
+  //  trajectory_msgs::JointTrajectory interpolateMultDOF(const std::vector<double>& v1, const std::vector<double>& v2,
+  //                                                   const int& num);
+  //  std::vector<double> interpolateSingleDOF(const double& d1, const double& d2, const int& num);
+   int dof;
+
+  moveit::core::RobotModelConstPtr robot_model_;
+  robot_state::RobotStatePtr robot_state_;
+
+  trajectory_msgs::JointTrajectory convert_TrajArray_to_JointTrajectory(const trajopt::TrajArray& traj_array);
+
+  tesseract::tesseract_planning::PlannerRequest tess_request_;
+};
+} // namespace trajopt_interface
+
+#endif  // TrajOpt_PLANNING_CONTEXT_H
diff --git a/moveit_planners/trajopt/launch/gdb_settings.gdb b/moveit_planners/trajopt/launch/gdb_settings.gdb
new file mode 100644
index 0000000000..d8ac14fee4
--- /dev/null
+++ b/moveit_planners/trajopt/launch/gdb_settings.gdb
@@ -0,0 +1,8 @@
+## This file allows developers to set breakpoints in the CPP_EXECUTABLE_NAME.launch file
+## To set a breakpoint, compile with debug flag set to true. Add a line below with the source file name,
+## a colon, then the line number to break on. Then launch CPP_EXECUTABLE_NAME with argument debug:=true
+
+set breakpoint pending on
+
+## Example break point:
+# break CPP_EXECUTABLE_NAME.cpp:52
\ No newline at end of file
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
new file mode 100644
index 0000000000..e5931e4b4c
--- /dev/null
+++ b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- GDB Debug Arguments -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+           value="gdb -x $(find moveit_planners_trajopt)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Callgrind Arguments -->
+  <arg name="callgrind" default="false" />
+  <arg unless="$(arg callgrind)" name="launch_prefix2" value="" />
+  <arg     if="$(arg callgrind)" name="launch_prefix2" value="valgrind --tool=callgrind --collect-atstart=no" />
+
+  <!-- Valgrind Arguments -->
+  <arg name="valgrind" default="false" />
+  <arg unless="$(arg valgrind)" name="launch_prefix3" value="" />
+  <arg     if="$(arg valgrind)" name="launch_prefix3" value="valgrind --tool=memcheck --leak-check=full --show-leak-kinds=all" />
+
+  <!-- Launch main node -->
+  <node name="$(anon moveit_planners_trajopt)" launch-prefix="$(arg launch_prefix) $(arg launch_prefix2) $(arg launch_prefix3)" pkg="moveit_planners_trajopt" type="test_trajopt" respawn="false" output="screen">
+
+    <!-- Robot-specific settings -->
+    <rosparam file="$(find moveit_planners_trajopt)/config/setup.yaml" command="load"/>
+  </node>
+
+</launch>
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
new file mode 100644
index 0000000000..af56adc99a
--- /dev/null
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -0,0 +1,230 @@
+#include <ros/ros.h>
+#include "trajopt_planning_context.h"
+#include <moveit/planning_interface/planning_interface.h>
+
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit_msgs/DisplayTrajectory.h>
+#include <moveit_msgs/PlanningScene.h>
+#include <moveit_visual_tools/moveit_visual_tools.h>
+#include "moveit/planning_interface/planning_request.h"
+
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+
+// test
+
+int main(int argc, char** argv)
+{
+    const std::string node_name = "trajopot_planning_tutorial";
+      ros::init(argc, argv, node_name);
+      ros::AsyncSpinner spinner(1);
+      spinner.start();
+      ros::NodeHandle node_handle("~");
+
+      const std::string PLANNING_GROUP = "panda_arm";
+      robot_model_loader::RobotModelLoaderPtr robot_model_loader(new robot_model_loader::RobotModelLoader("robot_description"));
+      robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
+      /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
+      robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
+      const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
+
+      const std::vector<std::string>& joint_names = joint_model_group->getVariableNames();
+
+      planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
+
+      // With the planning scene we create a planing scene monitor that
+      // monitors planning scene diffs and applys them to the planning scene
+      planning_scene_monitor::PlanningSceneMonitorPtr psm(
+          new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
+      psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
+      psm->startStateMonitor();
+      psm->startSceneMonitor();
+
+        while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
+        {
+          ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
+        }
+      // We will now construct a loader to load a planner, by name.
+      // Note that we are using the ROS pluginlib library here.
+      boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
+      planning_interface::PlannerManagerPtr planner_instance;
+
+      std::string planner_plugin_name;
+
+      planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+      node_handle.setParam("planning_plugin", planner_plugin_name);
+
+      // We will get the name of planning plugin we want to load
+    // from the ROS parameter server, and then load the planner
+    // making sure to catch all exceptions.
+    if (!node_handle.getParam("planning_plugin", planner_plugin_name))
+      ROS_FATAL_STREAM("Could not find planner plugin name");
+    try
+    {
+      planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
+          "moveit_core", "planning_interface::PlannerManager"));
+      printf("===>>> planner_plugin_name: %s \n", planner_plugin_name.c_str());
+    }
+    catch (pluginlib::PluginlibException& ex)
+    {
+      ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
+    }
+    try
+    {
+      planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
+      if (!planner_instance->initialize(robot_model, node_handle.getNamespace())) // namespace ????. I dont use it
+        ROS_FATAL_STREAM("Could not initialize planner instance");
+      ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
+    }
+    catch (pluginlib::PluginlibException& ex)
+    {
+      const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
+      std::stringstream ss;
+      for (std::size_t i = 0; i < classes.size(); ++i)
+        ss << classes[i] << " ";
+      ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
+                                                           << "Available plugins: " << ss.str());
+     }
+
+
+
+
+
+
+
+
+
+
+
+
+    // Visualization
+    // ^^^^^^^^^^^^^
+    // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
+    // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
+    namespace rvt = rviz_visual_tools;
+    moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
+    visual_tools.loadRobotStatePub("/display_robot_state");
+    visual_tools.enableBatchPublishing();
+    visual_tools.deleteAllMarkers();  // clear all old markers
+    visual_tools.trigger();
+
+    /* Remote control is an introspection tool that allows users to step through a high level script
+       via buttons and keyboard shortcuts in RViz */
+    visual_tools.loadRemoteControl();
+
+    /* RViz provides many types of markers, in this demo we will use text, cylinders, and spheres*/
+    Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
+    text_pose.translation().z() = 1.75;
+    visual_tools.publishText(text_pose, "Motion Planning API Demo", rvt::WHITE, rvt::XLARGE);
+
+    /* Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations */
+    visual_tools.trigger();
+
+    /* We can also use visual_tools to wait for user input */
+    visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
+
+    // Pose Goal
+    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    // We will now create a motion plan request for the arm of the Panda
+    // specifying the desired pose of the end-effector as input.
+    visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
+    visual_tools.trigger();
+    planning_interface::MotionPlanRequest req;
+    planning_interface::MotionPlanResponse res;
+    geometry_msgs::PoseStamped pose;
+    pose.header.frame_id = "panda_link0";
+    pose.pose.position.x = 0.3;
+    pose.pose.position.y = 0.4;
+    pose.pose.position.z = 0.75;
+    pose.pose.orientation.w = 1.0;
+
+    // A tolerance of 0.01 m is specified in position
+    // and 0.01 radians in orientation
+    std::vector<double> tolerance_pose(3, 0.01);
+    std::vector<double> tolerance_angle(3, 0.01);
+
+    // We will create the request as a constraint using a helper function available
+    // from the
+    // `kinematic_constraints`_
+    // package.
+    //
+    // .. _kinematic_constraints:
+    //     http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+    moveit_msgs::Constraints pose_goal =
+        kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
+
+    req.group_name = PLANNING_GROUP;
+    req.goal_constraints.push_back(pose_goal);
+
+    // set the request start joint state
+    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+    // get the joint values of the start state
+    std::vector<double> start_joint_values;
+    robot_state->copyJointGroupPositions(joint_model_group, start_joint_values);
+    int r = 0;
+    for (auto x : start_joint_values)
+    {
+      printf("===>>> joint: %s with value: %f \n", joint_names[r].c_str(), x);
+      ++r;
+    }
+    req.start_state.joint_state.position = start_joint_values;
+
+
+    // set the goal joint state
+    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    robot_state::RobotState goal_state(robot_model);
+    std::vector<double> joint_values = { 0.8, 0.7, 1, 1.3, 1.9, 2.2, 3 };
+    goal_state.setJointGroupPositions(joint_model_group, joint_values);
+    moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
+    req.goal_constraints.clear();
+    req.goal_constraints.push_back(joint_goal);
+
+    // retrive joint values at goal
+    std::vector<moveit_msgs::Constraints> goal_constraints = req.goal_constraints;
+    std::cout << "===>>> number of constraints in goal: " << goal_constraints.size() << std::endl;
+    std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = goal_constraints[0].joint_constraints;
+    for (auto x : goal_joint_constraint)
+    {
+      std::cout << "==>> joint position at goal " << x.position << std::endl;
+    }
+
+
+    //------
+    // We now construct a planning context that encapsulate the scene,
+    // the request and the response. We call the planner using this
+    // planning context
+    planning_interface::PlanningContextPtr context =
+        planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
+
+    context->solve(res);
+    if (res.error_code_.val != res.error_code_.SUCCESS)
+    {
+      ROS_ERROR("Could not compute plan successfully");
+      return 0;
+  }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+}

From 90116aee9a4a293d8f89bd29927a64581f34d43f Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Tue, 2 Jul 2019 17:07:38 -0600
Subject: [PATCH 65/96] updated resp req updated planning context working
 trajopt without any velocity constraint

---
 moveit_planners/trajopt/config/setup.yaml     |  13 ++
 .../trajopt/include/problem_description.h     | 120 ++++++++++++++++++
 .../include/trajopt_planning_context.h        |  34 +++--
 .../trajopt/launch/test_trajopt_launch.launch |   6 +
 moveit_planners/trajopt/src/test_trajopt.cpp  |  69 +++++-----
 5 files changed, 202 insertions(+), 40 deletions(-)
 create mode 100644 moveit_planners/trajopt/include/problem_description.h

diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
index e69de29bb2..f44b12ef66 100644
--- a/moveit_planners/trajopt/config/setup.yaml
+++ b/moveit_planners/trajopt/config/setup.yaml
@@ -0,0 +1,13 @@
+improve_ratio_threshold: 0.25;
+min_trust_box_size: 1e-4;
+min_approx_improve: 1e-4;
+min_approx_improve_frac: -1000; # should br -infinity
+max_iter: 50;
+trust_shrink_ratio: 0.1;
+trust_expand_ratio: 1.5;
+cnt_tolerance: 1e-4;
+max_merit_coeff_increases: 5;
+merit_coeff_increase_ratio : 10;
+max_time: 1000; # should be +infinity
+merit_error_coeff: 10;
+trust_box_size: 1e-1;
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
new file mode 100644
index 0000000000..73d7d1abe6
--- /dev/null
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -0,0 +1,120 @@
+#pragma once
+#include <tesseract_core/basic_env.h>
+#include <tesseract_core/basic_kin.h>
+#include <trajopt/common.hpp>
+#include <trajopt/json_marshal.hpp>
+#include <trajopt_sco/optimizers.hpp>
+
+
+namespace trajopt_interface
+{
+
+class TrajOptProblem;
+typedef std::shared_ptr<TrajOptProblem> TrajOptProblemPtr;
+
+/**
+ * Holds all the data for a trajectory optimization problem
+ * so you can modify it programmatically, e.g. add your own costs
+ */
+class  TrajOptProblem :  public sco::OptProb
+{
+public:
+  TrajOptProblem();
+  TrajOptProblem(const int& n_steps, bool& use_time, const robot_model::RobotModelConstPtr& robot_model);
+  virtual ~TrajOptProblem() = default;
+  sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
+  sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
+  sco::Var& GetVar(int i, int j) { return m_traj_vars.at(i, j); }
+  trajopt::VarArray& GetVars() { return m_traj_vars; }
+  /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
+  int GetNumSteps() { return m_traj_vars.rows(); }
+  /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
+   * Note that this is not necessarily the same as the kinematic DOF.*/
+  int GetNumDOF() { return m_traj_vars.cols(); }
+  // tesseract::BasicKinConstPtr GetKin() { return m_kin; }
+  //tesseract::BasicEnvConstPtr GetEnv() { return m_env; }
+  void SetInitTraj(const trajopt::TrajArray& x){
+    std::cout << "====>>>>> setInitTraj is called " << std::endl;
+    std::cout << "x.size: " << x.size()  << std::endl;
+    m_init_traj = x;
+    //    std::cout << m_init_traj << std::endl;
+  }
+  trajopt::TrajArray GetInitTraj() {
+    std::cout << "====>>>>> GetInitTraj is called " << std::endl;
+    return m_init_traj;
+  }
+  //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
+  /** @brief Returns TrajOptProb.has_time */
+  bool GetHasTime() { return has_time; }
+  /** @brief Sets TrajOptProb.has_time  */
+  void SetHasTime(bool tmp) { has_time = tmp; }
+
+private:
+  /** @brief If true, the last column in the optimization matrix will be 1/dt */
+  bool has_time;
+  trajopt::VarArray m_traj_vars;
+  // tesseract::BasicKinConstPtr m_kin;
+  // tesseract::BasicEnvConstPtr m_env;
+  trajopt::TrajArray m_init_traj;
+};
+
+/**
+When cost or constraint element of JSON doc is read, one of these guys gets
+constructed to hold the parameters.
+Then it later gets converted to a Cost object by the hatch method
+*/
+struct TermInfo
+{
+  std::string name;
+  int term_type;
+  int getSupportedTypes() { return supported_term_types_; }
+  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
+  virtual void hatch(TrajOptProblem& prob) = 0;
+
+  //  static TermInfoPtr fromName(const std::string& type);
+
+  /**
+   * Registers a user-defined TermInfo so you can use your own cost
+   * see function RegisterMakers.cpp
+   */
+  //  typedef TermInfoPtr (*MakerFunc)(void);
+  //  static void RegisterMaker(const std::string& type, MakerFunc);
+
+  virtual ~TermInfo() = default;
+
+protected:
+  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
+private:
+  //  static std::map<std::string, MakerFunc> name2maker;
+  int supported_term_types_;
+};
+
+struct CartPoseTermInfo : public TermInfo
+{
+  //  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** @brief Timestep at which to apply term */
+  int timestep;
+  /** @brief  Cartesian position */
+  Eigen::Vector3d xyz;
+  /** @brief Rotation quaternion */
+  Eigen::Vector4d wxyz;
+  /** @brief coefficients for position and rotation */
+  Eigen::Vector3d pos_coeffs, rot_coeffs;
+  /** @brief Link which should reach desired pose */
+  std::string link;
+  /** @brief Static transform applied to the link */
+  Eigen::Isometry3d tcp;
+
+  CartPoseTermInfo();
+
+  /** @brief Used to add term to pci from json */
+  //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void hatch(TrajOptProblem& prob) override;
+  // DEFINE_CREATE(CartPoseTermInfo)
+};
+
+
+
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index 3866c51c10..01e277eb37 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -15,6 +15,11 @@
 
 #include <trajopt_sco/solver_interface.hpp>
 
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/sco_common.hpp>
+
+#include "problem_description.h"
+
 //using namespace trajopt;
 
 namespace trajopt_interface
@@ -24,15 +29,20 @@ MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
 
 struct TrajOptPlannerConfiguration{
 
-  TrajOptPlannerConfiguration() {}
+  // TrajOptPlannerConfiguration(trajopt::TrajOptProbPtr prob) : prob(prob) {}
+
+  TrajOptPlannerConfiguration() {prob.reset(new TrajOptProblem());}
+
   virtual ~TrajOptPlannerConfiguration() {}
 
-  /** @brief Trajopt problem to be solved (Required) */
+  //  std::string model_type = sco::ModelType::AUTO_SOLVER
   //  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(sco::ModelType::AUTO_SOLVER));
 
-  std::string model_type; // sco::ModelType::AUTO_SOLVER
-  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(model_type));
+  /** @brief Trajopt problem to be solved (Required) */
+  TrajOptProblemPtr prob;
 
+  //    TrajOptProblemPtr prob(new TrajOptProblem());
+  //  std::shared_ptr<TrajOptProblem> prob = std::shared_ptr(new TrajOptProblem);
 
   /** @brief Optimization parameters to be used (Optional) */
   sco::BasicTrustRegionSQPParameters params;
@@ -43,8 +53,12 @@ struct TrajOptPlannerConfiguration{
 
 };
 
+trajopt::TrajArray generateInitialTrajectory(const int& num_steps);
 TrajOptPlannerConfiguration spec_;
+int dof_;
 
+void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
+ 
 class TrajOptPlanningContext : public planning_interface::PlanningContext
 {
 public:
@@ -62,20 +76,18 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
 
   void setTrajOptPlannerConfiguration();
 
-
-
 protected:
 
 private:
-  //  trajectory_msgs::JointTrajectory interpolateMultDOF(const std::vector<double>& v1, const std::vector<double>& v2,
-  //                                                   const int& num);
-  //  std::vector<double> interpolateSingleDOF(const double& d1, const double& d2, const int& num);
-   int dof;
 
   moveit::core::RobotModelConstPtr robot_model_;
   robot_state::RobotStatePtr robot_state_;
 
-  trajectory_msgs::JointTrajectory convert_TrajArray_to_JointTrajectory(const trajopt::TrajArray& traj_array);
+ 
+  
+  trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array);
+
+  //  sco::VarArray convertVarVectorToVarArray(const VarVector& vv);
 
   tesseract::tesseract_planning::PlannerRequest tess_request_;
 };
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
index e5931e4b4c..f0d35bdeaa 100644
--- a/moveit_planners/trajopt/launch/test_trajopt_launch.launch
+++ b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
@@ -17,6 +17,12 @@
   <arg unless="$(arg valgrind)" name="launch_prefix3" value="" />
   <arg     if="$(arg valgrind)" name="launch_prefix3" value="valgrind --tool=memcheck --leak-check=full --show-leak-kinds=all" />
 
+  <!-- Run Panda launch -->
+  <include file="$(find panda_moveit_config)/launch/demo.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="planner" value="trajopt"/>
+  </include>
+
   <!-- Launch main node -->
   <node name="$(anon moveit_planners_trajopt)" launch-prefix="$(arg launch_prefix) $(arg launch_prefix2) $(arg launch_prefix3)" pkg="moveit_planners_trajopt" type="test_trajopt" respawn="false" output="screen">
 
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index af56adc99a..55a26c08be 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -31,7 +31,9 @@ int main(int argc, char** argv)
       robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
       const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
 
-      const std::vector<std::string>& joint_names = joint_model_group->getVariableNames();
+
+      const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
+      std::cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>> dof: " << joint_names.size()  << std::endl;
 
       planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
 
@@ -43,9 +45,9 @@ int main(int argc, char** argv)
       psm->startStateMonitor();
       psm->startSceneMonitor();
 
-        while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
-        {
-          ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
+      while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
+       {
+         ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
         }
       // We will now construct a loader to load a planner, by name.
       // Note that we are using the ROS pluginlib library here.
@@ -56,7 +58,7 @@ int main(int argc, char** argv)
 
       planner_plugin_name = "trajopt_interface/TrajOptPlanner";
       node_handle.setParam("planning_plugin", planner_plugin_name);
-
+      
       // We will get the name of planning plugin we want to load
     // from the ROS parameter server, and then load the planner
     // making sure to catch all exceptions.
@@ -192,39 +194,48 @@ int main(int argc, char** argv)
       std::cout << "==>> joint position at goal " << x.position << std::endl;
     }
 
-
+    
     //------
     // We now construct a planning context that encapsulate the scene,
     // the request and the response. We call the planner using this
     // planning context
-    planning_interface::PlanningContextPtr context =
+         planning_interface::PlanningContextPtr context =
         planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
-
-    context->solve(res);
-    if (res.error_code_.val != res.error_code_.SUCCESS)
+	 
+	       context->solve(res);
+	          if (res.error_code_.val != res.error_code_.SUCCESS)
     {
       ROS_ERROR("Could not compute plan successfully");
       return 0;
   }
 
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+ visual_tools.prompt("Press 'next' to visualize the reslt ");
+ 
+// Visualize the result
+  // ^^^^^^^^^^^^^^^^^^^^
+  ros::Publisher display_publisher =
+      node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
+  moveit_msgs::DisplayTrajectory display_trajectory;
+
+  /* Visualize the trajectory */
+  moveit_msgs::MotionPlanResponse response;
+  res.getMessage(response);
+
+  display_trajectory.trajectory_start = response.trajectory_start;
+  display_trajectory.trajectory.push_back(response.trajectory);
+  visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
+  visual_tools.trigger();
+  display_publisher.publish(display_trajectory);
+  /*
+  // Set the state in the planning scene to the final state of the last plan 
+  robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
+  planning_scene->setCurrentState(*robot_state.get());
+
+  // Display the goal state
+  visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
+  visual_tools.publishAxisLabeled(pose.pose, "goal_1");
+  visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
+  visual_tools.trigger();      
+*/	   
 
 }

From efd2135a57b71f658929249384924a95ed81aa9f Mon Sep 17 00:00:00 2001
From: Omid Heidari <heidomid@isu.edu>
Date: Sun, 14 Jul 2019 21:25:53 -0600
Subject: [PATCH 66/96] added trajopt_interface class

---
 .../trajopt/include/trajopt_interface.h       | 93 +++++++++++++++++++
 .../include/trajopt_planning_context.h        | 18 ++--
 2 files changed, 104 insertions(+), 7 deletions(-)
 create mode 100644 moveit_planners/trajopt/include/trajopt_interface.h

diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
new file mode 100644
index 0000000000..12ce32b414
--- /dev/null
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -0,0 +1,93 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Omid Heidari */
+
+#ifndef TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+#define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+
+#include <ros/ros.h>
+
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+#include <trajopt/plot_callback.hpp>
+#include <trajopt/file_write_callback.hpp>
+#include <trajopt/problem_description.hpp>
+#include <trajopt_utils/config.hpp>
+#include <trajopt_utils/logging.hpp>
+
+#include <tesseract_planning/basic_planner_types.h>
+
+#include <trajopt_sco/solver_interface.hpp>
+
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/sco_common.hpp>
+
+#include "problem_description.h"
+
+
+namespace trajopt_interface
+{
+  //  MOVEIT_CLASS_FORWARD(TrajOptInterface);
+
+class TrajOptInterface //: public trajopt::TrajOptPlanner
+{
+public:
+  TrajOptInterface();
+  virtual ~TrajOptInterface() = 0;
+  
+  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
+
+  const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
+
+protected:
+  /** @brief Configure everything using the param server */
+  void setTrajOptPlannerConfiguration();
+
+  ros::NodeHandle nh_;  /// The ROS node handle
+
+  sco::BasicTrustRegionSQPParameters params_;
+
+  sco::Optimizer::Callback callbacks_;
+
+  TrajOptProblemPtr prob_;
+
+  void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
+
+};
+}
+
+#endif
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index 01e277eb37..debb20a29d 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -20,13 +20,15 @@
 
 #include "problem_description.h"
 
+#include "trajopt_interface.h"
+
 //using namespace trajopt;
 
 namespace trajopt_interface
 {
 
 MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
-
+/*
 struct TrajOptPlannerConfiguration{
 
   // TrajOptPlannerConfiguration(trajopt::TrajOptProbPtr prob) : prob(prob) {}
@@ -38,23 +40,24 @@ struct TrajOptPlannerConfiguration{
   //  std::string model_type = sco::ModelType::AUTO_SOLVER
   //  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(sco::ModelType::AUTO_SOLVER));
 
-  /** @brief Trajopt problem to be solved (Required) */
+  // @brief Trajopt problem to be solved (Required) 
   TrajOptProblemPtr prob;
 
   //    TrajOptProblemPtr prob(new TrajOptProblem());
   //  std::shared_ptr<TrajOptProblem> prob = std::shared_ptr(new TrajOptProblem);
 
-  /** @brief Optimization parameters to be used (Optional) */
+  // @brief Optimization parameters to be used (Optional) 
   sco::BasicTrustRegionSQPParameters params;
 
-  /** @brief Callback functions called on each iteration of the optimization (Optional) */
+  // @brief Callback functions called on each iteration of the optimization (Optional) 
   //std::vector<sco::Optimizer::Callback> callbacks;
   sco::Optimizer::Callback callbacks;
 
 };
+*/
 
-trajopt::TrajArray generateInitialTrajectory(const int& num_steps);
-TrajOptPlannerConfiguration spec_;
+// trajopt::TrajArray generateInitialTrajectory(const int& num_steps);
+//TrajOptPlannerConfiguration spec_;
 int dof_;
 
 void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
@@ -74,7 +77,7 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
-  void setTrajOptPlannerConfiguration();
+  //  void setTrajOptPlannerConfiguration();
 
 protected:
 
@@ -83,6 +86,7 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   moveit::core::RobotModelConstPtr robot_model_;
   robot_state::RobotStatePtr robot_state_;
 
+  TrajOptInterfacePtr trajopot_interface_;
  
   
   trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array);

From 9be1874ed22407be6d1bbdc7746d383724744ecc Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 15 Jul 2019 18:13:53 -0600
Subject: [PATCH 67/96] changed the architectrue and used TrajoptInterface
 class to contain the solve function details. Created a TrajOptInterface
 object in TrajoptPlanningContext class instead

---
 .../trajopt/include/problem_description.h     |  2 +-
 .../trajopt/include/trajopt_interface.h       | 25 +++++++---
 .../include/trajopt_planning_context.h        | 47 +------------------
 3 files changed, 21 insertions(+), 53 deletions(-)

diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index 73d7d1abe6..58286cc273 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -4,7 +4,7 @@
 #include <trajopt/common.hpp>
 #include <trajopt/json_marshal.hpp>
 #include <trajopt_sco/optimizers.hpp>
-
+#include <moveit/robot_model/robot_model.h>
 
 namespace trajopt_interface
 {
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
index 12ce32b414..683fa6d187 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -58,24 +58,32 @@
 
 #include "problem_description.h"
 
+#include <moveit/planning_interface/planning_request.h>
+#include <moveit/planning_interface/planning_response.h>
+#include <moveit/planning_interface/planning_interface.h>
 
 namespace trajopt_interface
 {
-  //  MOVEIT_CLASS_FORWARD(TrajOptInterface);
+MOVEIT_CLASS_FORWARD(TrajOptInterface);
 
 class TrajOptInterface //: public trajopt::TrajOptPlanner
 {
 public:
-  TrajOptInterface();
-  virtual ~TrajOptInterface() = 0;
-  
+
   TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
+  virtual ~TrajOptInterface();
 
   const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
 
+  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::MotionPlanRequest& req,
+             const sco::BasicTrustRegionSQPParameters& params, planning_interface::MotionPlanResponse& res) const; // const
+
+  trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
+
 protected:
   /** @brief Configure everything using the param server */
-  void setTrajOptPlannerConfiguration();
+  void setParamsFromRosParamServer();
+  void setDefaultParams();
 
   ros::NodeHandle nh_;  /// The ROS node handle
 
@@ -85,9 +93,12 @@ class TrajOptInterface //: public trajopt::TrajOptPlanner
 
   TrajOptProblemPtr prob_;
 
-  void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
-
+  // a function to convert TrajArray (TrajArray has no dependency on tesseract) from trajopt_ros to trajectory_msgs::JointTrajectory.Points
+  trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array, const std::vector<std::string>& j_names);
 };
+
+void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
+
 }
 
 #endif
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index debb20a29d..20edb5cdbb 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -19,7 +19,6 @@
 #include <trajopt_sco/sco_common.hpp>
 
 #include "problem_description.h"
-
 #include "trajopt_interface.h"
 
 //using namespace trajopt;
@@ -28,40 +27,7 @@ namespace trajopt_interface
 {
 
 MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
-/*
-struct TrajOptPlannerConfiguration{
-
-  // TrajOptPlannerConfiguration(trajopt::TrajOptProbPtr prob) : prob(prob) {}
-
-  TrajOptPlannerConfiguration() {prob.reset(new TrajOptProblem());}
-
-  virtual ~TrajOptPlannerConfiguration() {}
-
-  //  std::string model_type = sco::ModelType::AUTO_SOLVER
-  //  sco::OptProbPtr prob = sco::OptProbPtr(new sco::OptProb(sco::ModelType::AUTO_SOLVER));
-
-  // @brief Trajopt problem to be solved (Required) 
-  TrajOptProblemPtr prob;
-
-  //    TrajOptProblemPtr prob(new TrajOptProblem());
-  //  std::shared_ptr<TrajOptProblem> prob = std::shared_ptr(new TrajOptProblem);
-
-  // @brief Optimization parameters to be used (Optional) 
-  sco::BasicTrustRegionSQPParameters params;
 
-  // @brief Callback functions called on each iteration of the optimization (Optional) 
-  //std::vector<sco::Optimizer::Callback> callbacks;
-  sco::Optimizer::Callback callbacks;
-
-};
-*/
-
-// trajopt::TrajArray generateInitialTrajectory(const int& num_steps);
-//TrajOptPlannerConfiguration spec_;
-int dof_;
-
-void callBackFunc(sco::OptProb* oprob, sco::OptResults& ores);
- 
 class TrajOptPlanningContext : public planning_interface::PlanningContext
 {
 public:
@@ -77,23 +43,14 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
-  //  void setTrajOptPlannerConfiguration();
-
 protected:
 
 private:
 
   moveit::core::RobotModelConstPtr robot_model_;
-  robot_state::RobotStatePtr robot_state_;
-
-  TrajOptInterfacePtr trajopot_interface_;
- 
-  
-  trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array);
-
-  //  sco::VarArray convertVarVectorToVarArray(const VarVector& vv);
+  //  robot_state::RobotStatePtr robot_state_;
 
-  tesseract::tesseract_planning::PlannerRequest tess_request_;
+  TrajOptInterfacePtr trajopt_interface_;
 };
 } // namespace trajopt_interface
 

From ca2857018e4cff3353c14d69df145c935ed1914b Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 19 Jul 2019 17:15:39 -0600
Subject: [PATCH 68/96] added kinematic_terms in problem_description, added
 comments anout term_type added ProblemInfo, TermInfo, InitInfo, BasicInfo in
 kinematic_terms, added  operator() added ConstructProblem added some param
 for problem_info

---
 .../trajopt/include/kinematic_terms.hpp       |  41 ++++
 .../trajopt/include/problem_description.h     | 195 ++++++++++++++----
 .../trajopt/include/trajopt_interface.h       |   3 +-
 3 files changed, 194 insertions(+), 45 deletions(-)
 create mode 100644 moveit_planners/trajopt/include/kinematic_terms.hpp

diff --git a/moveit_planners/trajopt/include/kinematic_terms.hpp b/moveit_planners/trajopt/include/kinematic_terms.hpp
new file mode 100644
index 0000000000..4167344ee6
--- /dev/null
+++ b/moveit_planners/trajopt/include/kinematic_terms.hpp
@@ -0,0 +1,41 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt/common.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_sco/sco_fwd.hpp>
+
+namespace trajopt_interface
+{
+
+/**
+ * @brief Used to calculate the error for StaticCartPoseTermInfo
+ * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
+ */
+struct CartPoseErrCalculator : public VectorOfVector
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  Eigen::Isometry3d target_pose_inv_;
+  //  tesseract::BasicKinConstPtr manip_;
+  // tesseract::BasicEnvConstPtr env_;
+  planning_scene::PlanningSceneConstPtr planning_scene_;
+  std::string link_;
+  Eigen::Isometry3d tcp_;
+
+  CartPoseErrCalculator(const Eigen::Isometry3d& pose,
+                        const planning_scene::PlanningSceneConstPtr& planning_scene,
+                        std::string link,
+                        Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+    : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
+  {
+  }
+
+  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
+};
+
+
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index 58286cc273..a9e8c31868 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -6,12 +6,153 @@
 #include <trajopt_sco/optimizers.hpp>
 #include <moveit/robot_model/robot_model.h>
 
+#include <moveit/planning_scene/planning_scene.h>
+
 namespace trajopt_interface
 {
 
+/**
+@brief Used to apply cost/constraint to joint-space velocity
+
+Term is applied to every step between first_step and last_step. It applies two limits, upper_limits/lower_limits,
+to the joint velocity subject to the following cases.
+
+* term_type = TT_COST
+** upper_limit = lower_limit = 0 - Cost is applied with a SQUARED error scaled for each joint by coeffs
+** upper_limit != lower_limit - 2 hinge costs are applied scaled for each joint by coeffs. If velocity < upper_limit and
+velocity > lower_limit, no penalty.
+
+* term_type = TT_CNT
+** upper_limit = lower_limit = 0 - Equality constraint is applied
+** upper_limit != lower_limit - 2 Inequality constraints are applied. These are both satisfied when velocity <
+upper_limit and velocity > lower_limit
+
+Note: coeffs, upper_limits, and lower_limits are optional. If a term is not given it will default to 0 for all joints.
+If one value is given, this will be broadcast to all joints.
+
+Note: Velocity is calculated numerically using forward finite difference
+
+\f{align*}{
+  cost = \sum_{t=0}^{T-2} \sum_j c_j (x_{t+1,j} - x_{t,j})^2
+\f}
+where j indexes over DOF, and \f$c_j\f$ are the coeffs.
+*/
+
+
+struct TermInfo;
+typedef std::shared_ptr<TermInfo> TermInfoPtr;
+
 class TrajOptProblem;
 typedef std::shared_ptr<TrajOptProblem> TrajOptProblemPtr;
 
+TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
+
+struct BasicInfo
+{
+  /** @brief If true first time step is fixed with a joint level constraint*/
+  bool start_fixed;
+  /** @brief Number of time steps (rows) in the optimization matrix */
+  int n_steps;
+  std::string manip;
+  std::string robot;             // optional
+  IntVec dofs_fixed;             // optional
+  sco::ModelType convex_solver;  // which convex solver to use
+
+  /** @brief If true, the last column in the optimization matrix will be 1/dt */
+  bool use_time = false;
+  /** @brief The upper limit of 1/dt values allowed in the optimization*/
+  double dt_upper_lim = 1.0;
+  /** @brief The lower limit of 1/dt values allowed in the optimization*/
+  double dt_lower_lim = 1.0;
+};
+
+/**
+Initialization info read from json
+*/
+struct InitInfo
+{
+  /** @brief Methods of initializing the optimization matrix
+
+    STATIONARY: Initializes all joint values to the initial value (the current value in the env
+    pci.env->getCurrentJointValues)
+    JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
+    GIVEN_TRAJ: Initializes the matrix to a given trajectory
+
+    In all cases the dt column (if present) is appended the selected method is defined.
+ */
+  enum Type
+  {
+    STATIONARY,
+    JOINT_INTERPOLATED,
+    GIVEN_TRAJ,
+  };
+  /** @brief Specifies the type of initialization to use */
+  Type type;
+  /** @brief Data used during initialization. Use depends on the initialization selected. */
+  TrajArray data;
+  /** @brief Default value the final column of the optimization is initialized too if time is being used */
+  double dt = 1.0;
+};
+
+/**
+When cost or constraint element of JSON doc is read, one of these guys gets
+constructed to hold the parameters.
+Then it later gets converted to a Cost object by the hatch method
+*/
+struct TermInfo
+{
+  std::string name;
+  int term_type;
+  int getSupportedTypes() { return supported_term_types_; }
+  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
+  virtual void hatch(TrajOptProb& prob) = 0;
+
+  static TermInfoPtr fromName(const std::string& type);
+
+  /**
+   * Registers a user-defined TermInfo so you can use your own cost
+   * see function RegisterMakers.cpp
+   */
+  typedef TermInfoPtr (*MakerFunc)(void);
+  static void RegisterMaker(const std::string& type, MakerFunc);
+
+  virtual ~TermInfo() = default;
+
+protected:
+  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
+private:
+  static std::map<std::string, MakerFunc> name2maker;
+  int supported_term_types_;
+};
+
+
+struct ProblemInfo
+{
+public:
+  BasicInfo basic_info;
+  sco::BasicTrustRegionSQPParameters opt_info;
+  std::vector<TermInfoPtr> cost_infos;
+  std::vector<TermInfoPtr> cnt_infos;
+  InitInfo init_info;
+
+  //  tesseract::BasicEnvConstPtr env;
+  //  tesseract::BasicKinConstPtr kin;
+  planning_scene::PlanningSceneConstPtr planning_scene;
+  std::string planning_group_name;
+
+  ProblemConstructionInfo(planning_scene::PlanningSceneConstPtr& ps, std::string pg)
+    : planning_scene_(ps), planning_group_name(pg) {}
+  //  void fromJson(const Json::Value& v);
+
+private:
+  // void readBasicInfo(const Json::Value& v);
+  // void readOptInfo(const Json::Value& v);
+  // void readCosts(const Json::Value& v);
+  // void readConstraints(const Json::Value& v);
+  //  void readInitInfo(const Json::Value& v);
+};
+
+
 /**
  * Holds all the data for a trajectory optimization problem
  * so you can modify it programmatically, e.g. add your own costs
@@ -20,7 +161,7 @@ class  TrajOptProblem :  public sco::OptProb
 {
 public:
   TrajOptProblem();
-  TrajOptProblem(const int& n_steps, bool& use_time, const robot_model::RobotModelConstPtr& robot_model);
+  TrajOptProblem(const int& n_steps, ProblemInfo problem_info);
   virtual ~TrajOptProblem() = default;
   sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
   sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
@@ -33,16 +174,9 @@ class  TrajOptProblem :  public sco::OptProb
   int GetNumDOF() { return m_traj_vars.cols(); }
   // tesseract::BasicKinConstPtr GetKin() { return m_kin; }
   //tesseract::BasicEnvConstPtr GetEnv() { return m_env; }
-  void SetInitTraj(const trajopt::TrajArray& x){
-    std::cout << "====>>>>> setInitTraj is called " << std::endl;
-    std::cout << "x.size: " << x.size()  << std::endl;
-    m_init_traj = x;
-    //    std::cout << m_init_traj << std::endl;
-  }
-  trajopt::TrajArray GetInitTraj() {
-    std::cout << "====>>>>> GetInitTraj is called " << std::endl;
-    return m_init_traj;
-  }
+  planning_scene::PlanningSceneConstPtr GetPlanningScene() { return planning_scene_;}
+  void SetInitTraj(const trajopt::TrajArray& x){  m_init_traj = x; }
+  trajopt::TrajArray GetInitTraj() { return m_init_traj; }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
   bool GetHasTime() { return has_time; }
@@ -55,40 +189,16 @@ class  TrajOptProblem :  public sco::OptProb
   trajopt::VarArray m_traj_vars;
   // tesseract::BasicKinConstPtr m_kin;
   // tesseract::BasicEnvConstPtr m_env;
+  planning_scene::PlanningSceneConstPtr planning_scene_;
+  std::string planning_group_;
   trajopt::TrajArray m_init_traj;
 };
 
-/**
-When cost or constraint element of JSON doc is read, one of these guys gets
-constructed to hold the parameters.
-Then it later gets converted to a Cost object by the hatch method
-*/
-struct TermInfo
-{
-  std::string name;
-  int term_type;
-  int getSupportedTypes() { return supported_term_types_; }
-  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void hatch(TrajOptProblem& prob) = 0;
-
-  //  static TermInfoPtr fromName(const std::string& type);
-
-  /**
-   * Registers a user-defined TermInfo so you can use your own cost
-   * see function RegisterMakers.cpp
-   */
-  //  typedef TermInfoPtr (*MakerFunc)(void);
-  //  static void RegisterMaker(const std::string& type, MakerFunc);
-
-  virtual ~TermInfo() = default;
 
-protected:
-  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
-private:
-  //  static std::map<std::string, MakerFunc> name2maker;
-  int supported_term_types_;
-};
+/** @brief This term is used when the goal frame is fixed in cartesian space
 
+  Set term_type == TT_COST or TT_CNT for cost or constraint.
+*/
 struct CartPoseTermInfo : public TermInfo
 {
   //  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -111,10 +221,9 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
-  // DEFINE_CREATE(CartPoseTermInfo)
+  void hatch(TrajOptProb& prob) override;
+  DEFINE_CREATE(CartPoseTermInfo)
 };
 
 
-
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
index 683fa6d187..bf1978cf5e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -71,12 +71,11 @@ class TrajOptInterface //: public trajopt::TrajOptPlanner
 public:
 
   TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
-  virtual ~TrajOptInterface();
 
   const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
 
   bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::MotionPlanRequest& req,
-             const sco::BasicTrustRegionSQPParameters& params, planning_interface::MotionPlanResponse& res) const; // const
+             const sco::BasicTrustRegionSQPParameters& params, planning_interface::MotionPlanResponse& res);
 
   trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
 

From d74ef64c67f8ac9158efddbaead01f42ed879415 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Sun, 21 Jul 2019 20:56:01 -0600
Subject: [PATCH 69/96] moved rotVec and concat from kinematics_term header to
 implementation in problem_Description, added term_type used
 MotionPlaneRequest from planning_interface instead that of moveit_msgs for
 solve function input added generateInitiaTrajectory added basic_info to
 problem_info

---
 ...{kinematic_terms.hpp => kinematic_terms.h} | 38 +++++++++++++++-
 .../trajopt/include/problem_description.h     | 33 +++++++++++---
 .../trajopt/include/trajopt_interface.h       |  6 +--
 moveit_planners/trajopt/src/test_trajopt.cpp  | 44 +++++++++++--------
 4 files changed, 91 insertions(+), 30 deletions(-)
 rename moveit_planners/trajopt/include/{kinematic_terms.hpp => kinematic_terms.h} (61%)

diff --git a/moveit_planners/trajopt/include/kinematic_terms.hpp b/moveit_planners/trajopt/include/kinematic_terms.h
similarity index 61%
rename from moveit_planners/trajopt/include/kinematic_terms.hpp
rename to moveit_planners/trajopt/include/kinematic_terms.h
index 4167344ee6..b5223a73b0 100644
--- a/moveit_planners/trajopt/include/kinematic_terms.hpp
+++ b/moveit_planners/trajopt/include/kinematic_terms.h
@@ -8,15 +8,49 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt_sco/modeling.hpp>
 #include <trajopt_sco/modeling_utils.hpp>
 #include <trajopt_sco/sco_fwd.hpp>
+#include <trajopt_sco/num_diff.hpp>
+
+#include <moveit/planning_scene/planning_scene.h>
+
+#include <Eigen/Geometry>
+
+using namespace Eigen;
+using namespace std;
 
 namespace trajopt_interface
 {
 
+Vector3d rotVec(const Matrix3d& m)
+{
+  Quaterniond q; q = m;
+  return Vector3d(q.x(), q.y(), q.z());
+}
+
+
+VectorXd concat(const VectorXd& a, const VectorXd& b)
+{
+  VectorXd out(a.size()+b.size());
+  out.topRows(a.size()) = a;
+  out.middleRows(a.size(), b.size()) = b;
+  return out;
+}
+
+template <typename T>
+vector<T> concat(const vector<T>& a, const vector<T>& b)
+{
+  vector<T> out;
+  vector<int> x;
+  out.insert(out.end(), a.begin(), a.end());
+  out.insert(out.end(), b.begin(), b.end());
+  return out;
+}
+
+
 /**
  * @brief Used to calculate the error for StaticCartPoseTermInfo
  * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
  */
-struct CartPoseErrCalculator : public VectorOfVector
+struct CartPoseErrCalculator : public sco::VectorOfVector
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   Eigen::Isometry3d target_pose_inv_;
@@ -27,7 +61,7 @@ struct CartPoseErrCalculator : public VectorOfVector
   Eigen::Isometry3d tcp_;
 
   CartPoseErrCalculator(const Eigen::Isometry3d& pose,
-                        const planning_scene::PlanningSceneConstPtr& planning_scene,
+                        const planning_scene::PlanningSceneConstPtr planning_scene,
                         std::string link,
                         Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index a9e8c31868..cab7481232 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -45,8 +45,26 @@ typedef std::shared_ptr<TermInfo> TermInfoPtr;
 class TrajOptProblem;
 typedef std::shared_ptr<TrajOptProblem> TrajOptProblemPtr;
 
+struct ProblemInfo;
+
 TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
 
+
+enum TermType
+{
+  TT_COST = 0x1,      // 0000 0001
+  TT_CNT = 0x2,       // 0000 0010
+  TT_USE_TIME = 0x4,  // 0000 0100
+};
+
+#define DEFINE_CREATE(classname)                                                                                       \
+  static TermInfoPtr create()                                                                                          \
+  {                                                                                                                    \
+    TermInfoPtr out(new classname());                                                                                  \
+    return out;                                                                                                        \
+  }
+
+
 struct BasicInfo
 {
   /** @brief If true first time step is fixed with a joint level constraint*/
@@ -55,7 +73,7 @@ struct BasicInfo
   int n_steps;
   std::string manip;
   std::string robot;             // optional
-  IntVec dofs_fixed;             // optional
+  sco::IntVec dofs_fixed;             // optional
   sco::ModelType convex_solver;  // which convex solver to use
 
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
@@ -89,7 +107,7 @@ struct InitInfo
   /** @brief Specifies the type of initialization to use */
   Type type;
   /** @brief Data used during initialization. Use depends on the initialization selected. */
-  TrajArray data;
+  trajopt::TrajArray data;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
   double dt = 1.0;
 };
@@ -105,7 +123,7 @@ struct TermInfo
   int term_type;
   int getSupportedTypes() { return supported_term_types_; }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void hatch(TrajOptProb& prob) = 0;
+  virtual void hatch(TrajOptProblem& prob) = 0;
 
   static TermInfoPtr fromName(const std::string& type);
 
@@ -140,8 +158,8 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemConstructionInfo(planning_scene::PlanningSceneConstPtr& ps, std::string pg)
-    : planning_scene_(ps), planning_group_name(pg) {}
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg)
+    : planning_scene(ps), planning_group_name(pg) {}
   //  void fromJson(const Json::Value& v);
 
 private:
@@ -161,7 +179,7 @@ class  TrajOptProblem :  public sco::OptProb
 {
 public:
   TrajOptProblem();
-  TrajOptProblem(const int& n_steps, ProblemInfo problem_info);
+  TrajOptProblem(const ProblemInfo& problem_info);
   virtual ~TrajOptProblem() = default;
   sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
   sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
@@ -221,9 +239,10 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob) override;
+  void hatch(TrajOptProblem& prob) override;
   DEFINE_CREATE(CartPoseTermInfo)
 };
 
+trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
 
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
index bf1978cf5e..b4dd24c9b2 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -74,10 +74,10 @@ class TrajOptInterface //: public trajopt::TrajOptPlanner
 
   const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
 
-  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::MotionPlanRequest& req,
-             const sco::BasicTrustRegionSQPParameters& params, planning_interface::MotionPlanResponse& res);
+  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const planning_interface::MotionPlanRequest& req,
+             const sco::BasicTrustRegionSQPParameters& params,  moveit_msgs::MotionPlanDetailedResponse& res);
+
 
-  trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
 
 protected:
   /** @brief Configure everything using the param server */
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index 55a26c08be..232c6f9f54 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -58,7 +58,7 @@ int main(int argc, char** argv)
 
       planner_plugin_name = "trajopt_interface/TrajOptPlanner";
       node_handle.setParam("planning_plugin", planner_plugin_name);
-      
+
       // We will get the name of planning plugin we want to load
     // from the ROS parameter server, and then load the planner
     // making sure to catch all exceptions.
@@ -194,23 +194,20 @@ int main(int argc, char** argv)
       std::cout << "==>> joint position at goal " << x.position << std::endl;
     }
 
-    
-    //------
-    // We now construct a planning context that encapsulate the scene,
-    // the request and the response. We call the planner using this
+
     // planning context
          planning_interface::PlanningContextPtr context =
         planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
-	 
-	       context->solve(res);
-	          if (res.error_code_.val != res.error_code_.SUCCESS)
-    {
-      ROS_ERROR("Could not compute plan successfully");
-      return 0;
-  }
 
- visual_tools.prompt("Press 'next' to visualize the reslt ");
- 
+         context->solve(res);
+         if (res.error_code_.val != res.error_code_.SUCCESS)
+           {
+             ROS_ERROR("Could not compute plan successfully");
+             return 0;
+           }
+
+         visual_tools.prompt("Press 'next' to visualize the reslt ");
+
 // Visualize the result
   // ^^^^^^^^^^^^^^^^^^^^
   ros::Publisher display_publisher =
@@ -221,13 +218,24 @@ int main(int argc, char** argv)
   moveit_msgs::MotionPlanResponse response;
   res.getMessage(response);
 
+  for (int timestep_index = 0; timestep_index < 10; ++timestep_index)
+    {
+      for (int joint_index = 0; joint_index < 7; ++joint_index)
+        {
+          response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index];
+        }
+      std::cout << "-------------------- next timestep ---------------" << std::endl;
+    }
+
+
+
   display_trajectory.trajectory_start = response.trajectory_start;
   display_trajectory.trajectory.push_back(response.trajectory);
   visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
   visual_tools.trigger();
   display_publisher.publish(display_trajectory);
-  /*
-  // Set the state in the planning scene to the final state of the last plan 
+
+  // Set the state in the planning scene to the final state of the last plan
   robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
   planning_scene->setCurrentState(*robot_state.get());
 
@@ -235,7 +243,7 @@ int main(int argc, char** argv)
   visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
   visual_tools.publishAxisLabeled(pose.pose, "goal_1");
   visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
-  visual_tools.trigger();      
-*/	   
+  visual_tools.trigger();
+
 
 }

From 5f016c51769b5d17362b8ccc5ade7e671a665232 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 22 Jul 2019 20:00:21 -0600
Subject: [PATCH 70/96] added panda_omple_planning added checkParameterSize
 function in problem_description added JointPoseTermInfo::hatch in
 problem_description added res.error.code.val to check the request in
 trajopt_interface.cpp convert req.goal_constraint to JointPoseTermInfo in
 trajopt_interface.cpp feed the response with the trajopt solution in
 trajopt_interface.cpp remove comments from trajopt_planning_context.cpp

---
 .../trajopt/config/panda_ompl_planning.yaml   | 203 ++++++++++++++++++
 moveit_planners/trajopt/config/setup.yaml     |  27 +--
 .../trajopt/include/kinematic_terms.h         |   5 +
 .../trajopt/include/problem_description.h     |  36 ++++
 .../include/trajopt_planning_context.h        |   2 -
 .../trajopt/launch/test_trajopt_launch.launch |   1 +
 moveit_planners/trajopt/src/test_trajopt.cpp  | 114 +++++-----
 7 files changed, 310 insertions(+), 78 deletions(-)
 create mode 100644 moveit_planners/trajopt/config/panda_ompl_planning.yaml

diff --git a/moveit_planners/trajopt/config/panda_ompl_planning.yaml b/moveit_planners/trajopt/config/panda_ompl_planning.yaml
new file mode 100644
index 0000000000..491e82914e
--- /dev/null
+++ b/moveit_planners/trajopt/config/panda_ompl_planning.yaml
@@ -0,0 +1,203 @@
+planner_configs:
+  SBLkConfigDefault:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ESTkConfigDefault:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECEkConfigDefault:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECEkConfigDefault:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECEkConfigDefault:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRTkConfigDefault:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnectkConfigDefault:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstarkConfigDefault:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRTkConfigDefault:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRMkConfigDefault:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstarkConfigDefault:
+    type: geometric::PRMstar
+  FMTkConfigDefault:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMTkConfigDefault:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDSTkConfigDefault:
+    type: geometric::PDST
+  STRIDEkConfigDefault:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRTkConfigDefault:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRTkConfigDefault:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiESTkConfigDefault:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjESTkConfigDefault:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRMkConfigDefault:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstarkConfigDefault:
+    type: geometric::LazyPRMstar
+  SPARSkConfigDefault:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwokConfigDefault:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+  TrajOptDefault:
+    type: geometric::TrajOpt
+
+panda_arm:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault
+    - TrajOptDefault
+panda_arm_hand:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault
+    - TrajOptDefault
+hand:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault
+    - TrajOptDefault
diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
index f44b12ef66..d5e7728589 100644
--- a/moveit_planners/trajopt/config/setup.yaml
+++ b/moveit_planners/trajopt/config/setup.yaml
@@ -1,13 +1,14 @@
-improve_ratio_threshold: 0.25;
-min_trust_box_size: 1e-4;
-min_approx_improve: 1e-4;
-min_approx_improve_frac: -1000; # should br -infinity
-max_iter: 50;
-trust_shrink_ratio: 0.1;
-trust_expand_ratio: 1.5;
-cnt_tolerance: 1e-4;
-max_merit_coeff_increases: 5;
-merit_coeff_increase_ratio : 10;
-max_time: 1000; # should be +infinity
-merit_error_coeff: 10;
-trust_box_size: 1e-1;
+trajopt_param:
+  improve_ratio_threshold: 0.25;
+  min_trust_box_size: 1e-4;
+  min_approx_improve: 1e-4;
+  min_approx_improve_frac: -1000; # should br -infinity
+  max_iter: 50;
+  trust_shrink_ratio: 0.1;
+  trust_expand_ratio: 1.5;
+  cnt_tolerance: 1e-4;
+  max_merit_coeff_increases: 5;
+  merit_coeff_increase_ratio : 10;
+  max_time: 1000; # should be +infinity
+  merit_error_coeff: 10;
+  trust_box_size: 1e-1;
diff --git a/moveit_planners/trajopt/include/kinematic_terms.h b/moveit_planners/trajopt/include/kinematic_terms.h
index b5223a73b0..25162f8abe 100644
--- a/moveit_planners/trajopt/include/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/kinematic_terms.h
@@ -71,5 +71,10 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
 };
 
+  //TODO(omid): The following should be added and adjusted from trajopt
+  // JointPosEqCost
+  // JointPosIneqCost
+  // JointPosEqConstraint
+  // JointPosIneqConstraint
 
 }  // namespace trajopt
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index cab7481232..77f4adbcc2 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -243,6 +243,42 @@ struct CartPoseTermInfo : public TermInfo
   DEFINE_CREATE(CartPoseTermInfo)
 };
 
+
+/**
+  \brief Joint space position cost
+    Position operates on a single point (unlike velocity, etc). This is b/c the primary usecase is joint-space
+    position waypoints
+
+  \f{align*}{
+  \sum_i c_i (x_i - xtarg_i)^2
+  \f}
+  where \f$i\f$ indexes over dof and \f$c_i\f$ are coeffs
+ */
+struct JointPosTermInfo : public TermInfo
+{
+  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec coeffs;
+  /** @brief Vector of position targets. This is a required value. Size should be the DOF of the system */
+  trajopt::DblVec targets;
+  /** @brief Vector of position upper limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec upper_tols;
+  /** @brief Vector of position lower limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec lower_tols;
+  /** @brief First time step to which the term is applied. Default: 0 */
+  int first_step = 0;
+  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
+  int last_step = -1;
+
+  /** @brief Initialize term with it's supported types */
+  JointPosTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME) {}
+
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void hatch(TrajOptProblem& prob) override;
+  DEFINE_CREATE(JointPosTermInfo)
+};
+
+
+
 trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
 
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index 20edb5cdbb..92d6642aa6 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -21,7 +21,6 @@
 #include "problem_description.h"
 #include "trajopt_interface.h"
 
-//using namespace trajopt;
 
 namespace trajopt_interface
 {
@@ -48,7 +47,6 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
 private:
 
   moveit::core::RobotModelConstPtr robot_model_;
-  //  robot_state::RobotStatePtr robot_state_;
 
   TrajOptInterfacePtr trajopt_interface_;
 };
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
index f0d35bdeaa..c80e5c93e1 100644
--- a/moveit_planners/trajopt/launch/test_trajopt_launch.launch
+++ b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
@@ -28,6 +28,7 @@
 
     <!-- Robot-specific settings -->
     <rosparam file="$(find moveit_planners_trajopt)/config/setup.yaml" command="load"/>
+    <rosparam file="$(find moveit_planners_trajopt)/config/panda_ompl_planning.yaml" command="load"/>
   </node>
 
 </launch>
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index 232c6f9f54..28c2c27033 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -30,11 +30,9 @@ int main(int argc, char** argv)
       /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
       robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
       const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
-
+      robot_state->setToDefaultValues();
 
       const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
-      std::cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>> dof: " << joint_names.size()  << std::endl;
-
       planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
 
       // With the planning scene we create a planing scene monitor that
@@ -56,11 +54,13 @@ int main(int argc, char** argv)
 
       std::string planner_plugin_name;
 
-      planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+       planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+
+      // planner_plugin_name = "ompl_interface/OMPLPlanner";
+      // node_handle.getParam("...", ...);
+
       node_handle.setParam("planning_plugin", planner_plugin_name);
 
-      // We will get the name of planning plugin we want to load
-    // from the ROS parameter server, and then load the planner
     // making sure to catch all exceptions.
     if (!node_handle.getParam("planning_plugin", planner_plugin_name))
       ROS_FATAL_STREAM("Could not find planner plugin name");
@@ -91,19 +91,8 @@ int main(int argc, char** argv)
                                                            << "Available plugins: " << ss.str());
      }
 
-
-
-
-
-
-
-
-
-
-
-
     // Visualization
-    // ^^^^^^^^^^^^^
+    // ========================================================================================
     // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
     // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
     namespace rvt = rviz_visual_tools;
@@ -129,7 +118,7 @@ int main(int argc, char** argv)
     visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
 
     // Pose Goal
-    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    // ========================================================================================
     // We will now create a motion plan request for the arm of the Panda
     // specifying the desired pose of the end-effector as input.
     visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
@@ -158,12 +147,11 @@ int main(int argc, char** argv)
     moveit_msgs::Constraints pose_goal =
         kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
 
-    req.group_name = PLANNING_GROUP;
-    req.goal_constraints.push_back(pose_goal);
+    //    req.group_name = PLANNING_GROUP;
+    // req.goal_constraints.push_back(pose_goal);
 
     // set the request start joint state
-    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
+    // ========================================================================================
     // get the joint values of the start state
     std::vector<double> start_joint_values;
     robot_state->copyJointGroupPositions(joint_model_group, start_joint_values);
@@ -173,17 +161,19 @@ int main(int argc, char** argv)
       printf("===>>> joint: %s with value: %f \n", joint_names[r].c_str(), x);
       ++r;
     }
-    req.start_state.joint_state.position = start_joint_values;
 
+    req.start_state.joint_state.name = joint_names;
+    req.start_state.joint_state.position = start_joint_values;
 
     // set the goal joint state
-    // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    // ========================================================================================
     robot_state::RobotState goal_state(robot_model);
-    std::vector<double> joint_values = { 0.8, 0.7, 1, 1.3, 1.9, 2.2, 3 };
+    std::vector<double> joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1};
     goal_state.setJointGroupPositions(joint_model_group, joint_values);
     moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
     req.goal_constraints.clear();
     req.goal_constraints.push_back(joint_goal);
+    req.group_name = PLANNING_GROUP;
 
     // retrive joint values at goal
     std::vector<moveit_msgs::Constraints> goal_constraints = req.goal_constraints;
@@ -194,56 +184,54 @@ int main(int argc, char** argv)
       std::cout << "==>> joint position at goal " << x.position << std::endl;
     }
 
-
     // planning context
-         planning_interface::PlanningContextPtr context =
-        planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
+    planning_interface::PlanningContextPtr context =
+      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
 
-         context->solve(res);
-         if (res.error_code_.val != res.error_code_.SUCCESS)
-           {
-             ROS_ERROR("Could not compute plan successfully");
-             return 0;
-           }
+    context->solve(res);
+    if (res.error_code_.val != res.error_code_.SUCCESS)
+    {
+      ROS_ERROR("Could not compute plan successfully");
+      return 0;
+    }
 
-         visual_tools.prompt("Press 'next' to visualize the reslt ");
+    visual_tools.prompt("Press 'next' to visualize the result");
 
-// Visualize the result
-  // ^^^^^^^^^^^^^^^^^^^^
-  ros::Publisher display_publisher =
+    // Visualize the result
+    // ========================================================================================
+    ros::Publisher display_publisher =
       node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
-  moveit_msgs::DisplayTrajectory display_trajectory;
+    moveit_msgs::DisplayTrajectory display_trajectory;
 
-  /* Visualize the trajectory */
-  moveit_msgs::MotionPlanResponse response;
-  res.getMessage(response);
-
-  for (int timestep_index = 0; timestep_index < 10; ++timestep_index)
-    {
-      for (int joint_index = 0; joint_index < 7; ++joint_index)
-        {
-          response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index];
-        }
-      std::cout << "-------------------- next timestep ---------------" << std::endl;
-    }
+    /* Visualize the trajectory */
+    moveit_msgs::MotionPlanResponse response;
+    res.getMessage(response);
 
+    for (int timestep_index = 0; timestep_index < response.trajectory.joint_trajectory.points.size(); ++timestep_index)
+      {
+        for (int joint_index = 0; joint_index < response.trajectory.joint_trajectory.points[timestep_index].positions.size(); ++joint_index)
+          {
+            std::cout << response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index] << "  ";
+          }
+        std::cout << std::endl;
+      }
 
+    display_trajectory.trajectory_start = response.trajectory_start;
+    display_trajectory.trajectory.push_back(response.trajectory);
 
-  display_trajectory.trajectory_start = response.trajectory_start;
-  display_trajectory.trajectory.push_back(response.trajectory);
-  visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
-  visual_tools.trigger();
-  display_publisher.publish(display_trajectory);
+    visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
+    visual_tools.trigger();
+    display_publisher.publish(display_trajectory);
 
   // Set the state in the planning scene to the final state of the last plan
-  robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
-  planning_scene->setCurrentState(*robot_state.get());
+  // robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
+  // planning_scene->setCurrentState(*robot_state.get());
 
   // Display the goal state
-  visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
-  visual_tools.publishAxisLabeled(pose.pose, "goal_1");
-  visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
-  visual_tools.trigger();
+  // visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
+  // visual_tools.publishAxisLabeled(pose.pose, "goal_1");
+  // visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
+  // visual_tools.trigger();
 
 
 }

From 341230ada83b7440fb0d9adf1e4bb01fd2afe1b7 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 22 Jul 2019 20:25:57 -0600
Subject: [PATCH 71/96] addressed the comments fixed start state corrected the
 yaml file multiple joint constraints

---
 .gitignore                                    |   4 +
 .../trajopt/config/panda_ompl_planning.yaml   | 203 --------
 moveit_planners/trajopt/config/setup.yaml     |  60 ++-
 .../trajopt/include/kinematic_terms.h         |  62 ++-
 .../trajopt/include/problem_description.h     | 199 ++++---
 .../trajopt/include/trajopt_interface.h       |  53 +-
 .../include/trajopt_planning_context.h        |  20 +-
 .../trajopt/launch/gdb_settings.gdb           |   8 -
 .../trajopt/launch/test_trajopt_launch.launch |   1 -
 moveit_planners/trajopt/src/test_trajopt.cpp  | 489 ++++++++++--------
 10 files changed, 526 insertions(+), 573 deletions(-)
 delete mode 100644 moveit_planners/trajopt/config/panda_ompl_planning.yaml
 delete mode 100644 moveit_planners/trajopt/launch/gdb_settings.gdb

diff --git a/.gitignore b/.gitignore
index 808fe85341..cfc7f50ba4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -58,3 +58,7 @@ qtcreator-*
 
 #gdb
 *.gdb
+<<<<<<< HEAD
+=======
+/moveit_planners/trajopt/launch/gdb_settings.gdb
+>>>>>>> addressed the comments
diff --git a/moveit_planners/trajopt/config/panda_ompl_planning.yaml b/moveit_planners/trajopt/config/panda_ompl_planning.yaml
deleted file mode 100644
index 491e82914e..0000000000
--- a/moveit_planners/trajopt/config/panda_ompl_planning.yaml
+++ /dev/null
@@ -1,203 +0,0 @@
-planner_configs:
-  SBLkConfigDefault:
-    type: geometric::SBL
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  ESTkConfigDefault:
-    type: geometric::EST
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-  LBKPIECEkConfigDefault:
-    type: geometric::LBKPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  BKPIECEkConfigDefault:
-    type: geometric::BKPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
-    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  KPIECEkConfigDefault:
-    type: geometric::KPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
-    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  RRTkConfigDefault:
-    type: geometric::RRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-  RRTConnectkConfigDefault:
-    type: geometric::RRTConnect
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  RRTstarkConfigDefault:
-    type: geometric::RRTstar
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
-  TRRTkConfigDefault:
-    type: geometric::TRRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-    max_states_failed: 10  # when to start increasing temp. default: 10
-    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
-    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
-    init_temperature: 10e-6  # initial temperature. default: 10e-6
-    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
-    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
-    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
-  PRMkConfigDefault:
-    type: geometric::PRM
-    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
-  PRMstarkConfigDefault:
-    type: geometric::PRMstar
-  FMTkConfigDefault:
-    type: geometric::FMT
-    num_samples: 1000  # number of states that the planner should sample. default: 1000
-    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
-    nearest_k: 1  # use Knearest strategy. default: 1
-    cache_cc: 1  # use collision checking cache. default: 1
-    heuristics: 0  # activate cost to go heuristics. default: 0
-    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
-  BFMTkConfigDefault:
-    type: geometric::BFMT
-    num_samples: 1000  # number of states that the planner should sample. default: 1000
-    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
-    nearest_k: 1  # use the Knearest strategy. default: 1
-    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
-    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
-    heuristics: 1  # activates cost to go heuristics. default: 1
-    cache_cc: 1  # use the collision checking cache. default: 1
-    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
-  PDSTkConfigDefault:
-    type: geometric::PDST
-  STRIDEkConfigDefault:
-    type: geometric::STRIDE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
-    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
-    max_degree: 18  # max degree of a node in the GNAT. default: 12
-    min_degree: 12  # min degree of a node in the GNAT. default: 12
-    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
-    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
-    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
-  BiTRRTkConfigDefault:
-    type: geometric::BiTRRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
-    init_temperature: 100  # initial temperature. default: 100
-    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
-    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
-    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
-  LBTRRTkConfigDefault:
-    type: geometric::LBTRRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-    epsilon: 0.4  # optimality approximation factor. default: 0.4
-  BiESTkConfigDefault:
-    type: geometric::BiEST
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  ProjESTkConfigDefault:
-    type: geometric::ProjEST
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-  LazyPRMkConfigDefault:
-    type: geometric::LazyPRM
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  LazyPRMstarkConfigDefault:
-    type: geometric::LazyPRMstar
-  SPARSkConfigDefault:
-    type: geometric::SPARS
-    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
-    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
-    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
-    max_failures: 1000  # maximum consecutive failure limit. default: 1000
-  SPARStwokConfigDefault:
-    type: geometric::SPARStwo
-    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
-    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
-    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
-    max_failures: 5000  # maximum consecutive failure limit. default: 5000
-  TrajOptDefault:
-    type: geometric::TrajOpt
-
-panda_arm:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-    - FMTkConfigDefault
-    - BFMTkConfigDefault
-    - PDSTkConfigDefault
-    - STRIDEkConfigDefault
-    - BiTRRTkConfigDefault
-    - LBTRRTkConfigDefault
-    - BiESTkConfigDefault
-    - ProjESTkConfigDefault
-    - LazyPRMkConfigDefault
-    - LazyPRMstarkConfigDefault
-    - SPARSkConfigDefault
-    - SPARStwokConfigDefault
-    - TrajOptDefault
-panda_arm_hand:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-    - FMTkConfigDefault
-    - BFMTkConfigDefault
-    - PDSTkConfigDefault
-    - STRIDEkConfigDefault
-    - BiTRRTkConfigDefault
-    - LBTRRTkConfigDefault
-    - BiESTkConfigDefault
-    - ProjESTkConfigDefault
-    - LazyPRMkConfigDefault
-    - LazyPRMstarkConfigDefault
-    - SPARSkConfigDefault
-    - SPARStwokConfigDefault
-    - TrajOptDefault
-hand:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-    - FMTkConfigDefault
-    - BFMTkConfigDefault
-    - PDSTkConfigDefault
-    - STRIDEkConfigDefault
-    - BiTRRTkConfigDefault
-    - LBTRRTkConfigDefault
-    - BiESTkConfigDefault
-    - ProjESTkConfigDefault
-    - LazyPRMkConfigDefault
-    - LazyPRMstarkConfigDefault
-    - SPARSkConfigDefault
-    - SPARStwokConfigDefault
-    - TrajOptDefault
diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
index d5e7728589..d844f801d5 100644
--- a/moveit_planners/trajopt/config/setup.yaml
+++ b/moveit_planners/trajopt/config/setup.yaml
@@ -1,14 +1,48 @@
 trajopt_param:
-  improve_ratio_threshold: 0.25;
-  min_trust_box_size: 1e-4;
-  min_approx_improve: 1e-4;
-  min_approx_improve_frac: -1000; # should br -infinity
-  max_iter: 50;
-  trust_shrink_ratio: 0.1;
-  trust_expand_ratio: 1.5;
-  cnt_tolerance: 1e-4;
-  max_merit_coeff_increases: 5;
-  merit_coeff_increase_ratio : 10;
-  max_time: 1000; # should be +infinity
-  merit_error_coeff: 10;
-  trust_box_size: 1e-1;
+  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step
+  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence
+  min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
+  min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
+  max_iter: 100                   # The max number of iterations
+  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio
+  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio
+  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done
+  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient
+  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time
+  max_time: .inf                  # not yet implemented
+  merit_error_coeff: 10           # initial penalty coefficient
+  trust_box_size: 1e-1            # current size of trust region (component-wise)
+
+problem_info:
+  basic_info:
+    n_steps: 20                # 2 * steps_per_phase
+    dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
+    dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
+    start_fixed: true          # if true, start pose is the current pose and the req.start_state is ignored
+    # if false, the start pose is the one given by req.start_state
+    use_time: flase            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
+    # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
+    convex_solver: 1           # which convex solver to use
+    #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
+
+  init_info:
+    type: 2                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
+    # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
+    dt: 0.5
+
+joint_pos_term_info:
+  start_pos:
+    name: start_pos
+    first_timestep: 0                # First time step to which the term is applied.
+    last_timestep: 0                # Last time step to which the term is applied. n_steps - 1
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+  middle_pos:
+    name: middle_pos
+    first_timestep: 10                # First time step to which the term is applied.
+    last_timestep: 10                # Last time step to which the term is applied. n_steps - 1
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+  goal_pos:
+    name: goal_pos
+    first_timestep: 19                # First time step to which the term is applied.
+    last_timestep: 19                # Last time step to which the term is applied. n_steps - 1
+    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
diff --git a/moveit_planners/trajopt/include/kinematic_terms.h b/moveit_planners/trajopt/include/kinematic_terms.h
index 25162f8abe..c61052194a 100644
--- a/moveit_planners/trajopt/include/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/kinematic_terms.h
@@ -1,14 +1,4 @@
 #pragma once
-#include <trajopt_utils/macros.h>
-TRAJOPT_IGNORE_WARNINGS_PUSH
-#include <Eigen/Core>
-TRAJOPT_IGNORE_WARNINGS_POP
-
-#include <trajopt/common.hpp>
-#include <trajopt_sco/modeling.hpp>
-#include <trajopt_sco/modeling_utils.hpp>
-#include <trajopt_sco/sco_fwd.hpp>
-#include <trajopt_sco/num_diff.hpp>
 
 #include <moveit/planning_scene/planning_scene.h>
 
@@ -19,17 +9,16 @@ using namespace std;
 
 namespace trajopt_interface
 {
-
 Vector3d rotVec(const Matrix3d& m)
 {
-  Quaterniond q; q = m;
+  Quaterniond q;
+  q = m;
   return Vector3d(q.x(), q.y(), q.z());
 }
 
-
 VectorXd concat(const VectorXd& a, const VectorXd& b)
 {
-  VectorXd out(a.size()+b.size());
+  VectorXd out(a.size() + b.size());
   out.topRows(a.size()) = a;
   out.middleRows(a.size(), b.size()) = b;
   return out;
@@ -39,13 +28,12 @@ template <typename T>
 vector<T> concat(const vector<T>& a, const vector<T>& b)
 {
   vector<T> out;
-  vector<int> x;
+  vector<int> x(a.size() + b.size());
   out.insert(out.end(), a.begin(), a.end());
   out.insert(out.end(), b.begin(), b.end());
   return out;
 }
 
-
 /**
  * @brief Used to calculate the error for StaticCartPoseTermInfo
  * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
@@ -54,16 +42,12 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   Eigen::Isometry3d target_pose_inv_;
-  //  tesseract::BasicKinConstPtr manip_;
-  // tesseract::BasicEnvConstPtr env_;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string link_;
   Eigen::Isometry3d tcp_;
 
-  CartPoseErrCalculator(const Eigen::Isometry3d& pose,
-                        const planning_scene::PlanningSceneConstPtr planning_scene,
-                        std::string link,
-                        Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+  CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
+                        std::string link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
   {
   }
@@ -71,10 +55,34 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
 };
 
-  //TODO(omid): The following should be added and adjusted from trajopt
-  // JointPosEqCost
-  // JointPosIneqCost
-  // JointPosEqConstraint
-  // JointPosIneqConstraint
+// TODO(omid): The following should be added and adjusted from trajopt
+// JointPosEqCost
+// JointPosIneqCost
+// JointPosEqConstraint
+// JointPosIneqConstraint
+
+struct JointVelErrCalculator : sco::VectorOfVector
+{
+  /** @brief Velocity target */
+  double target_;
+  /** @brief Upper tolerance */
+  double upper_tol_;
+  /** @brief Lower tolerance */
+  double lower_tol_;
+  JointVelErrCalculator() : target_(0.0), upper_tol_(0.0), lower_tol_(0.0)
+  {
+  }
+  JointVelErrCalculator(double target, double upper_tol, double lower_tol)
+    : target_(target), upper_tol_(upper_tol), lower_tol_(lower_tol)
+  {
+  }
+
+  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const;
+};
+
+struct JointVelJacobianCalculator : sco::MatrixOfVector
+{
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
+};
 
 }  // namespace trajopt
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/problem_description.h
index 77f4adbcc2..8d1bd605e1 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/problem_description.h
@@ -1,16 +1,15 @@
 #pragma once
-#include <tesseract_core/basic_env.h>
-#include <tesseract_core/basic_kin.h>
 #include <trajopt/common.hpp>
 #include <trajopt/json_marshal.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include <moveit/robot_model/robot_model.h>
 
+#include <moveit/robot_model/robot_model.h>
 #include <moveit/planning_scene/planning_scene.h>
 
+#include <memory>
+
 namespace trajopt_interface
 {
-
 /**
 @brief Used to apply cost/constraint to joint-space velocity
 
@@ -38,17 +37,20 @@ Note: Velocity is calculated numerically using forward finite difference
 where j indexes over DOF, and \f$c_j\f$ are the coeffs.
 */
 
-
 struct TermInfo;
-typedef std::shared_ptr<TermInfo> TermInfoPtr;
+MOVEIT_CLASS_FORWARD(TermInfo);
 
 class TrajOptProblem;
-typedef std::shared_ptr<TrajOptProblem> TrajOptProblemPtr;
+MOVEIT_CLASS_FORWARD(TrajOptProblem);
 
-struct ProblemInfo;
+struct JointPoseTermInfo;
+MOVEIT_CLASS_FORWARD(JointPoseTermInfo);
 
-TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
+struct CartPoseTermInfo;
+MOVEIT_CLASS_FORWARD(CartPoseTermInfo);
 
+struct ProblemInfo;
+TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
 
 enum TermType
 {
@@ -57,23 +59,21 @@ enum TermType
   TT_USE_TIME = 0x4,  // 0000 0100
 };
 
-#define DEFINE_CREATE(classname)                                                                                       \
-  static TermInfoPtr create()                                                                                          \
-  {                                                                                                                    \
-    TermInfoPtr out(new classname());                                                                                  \
-    return out;                                                                                                        \
-  }
-
-
 struct BasicInfo
 {
-  /** @brief If true first time step is fixed with a joint level constraint*/
+  /** @brief If true, first time step is fixed with a joint level constraint
+      If this is false, the starting point of the trajectory will
+      not be the current position of the robot. The use case example is: if we are trying to execute a process like
+      sanding the critical part which is the actual process path not how we get to the start of the process path. So we
+     plan the
+      process path first leaving the start free to hopefully get the most optimal and then we plan from the current
+     location with
+      start fixed to the start of the process path. It depends on what we want the default behavior to be
+   */
   bool start_fixed;
   /** @brief Number of time steps (rows) in the optimization matrix */
   int n_steps;
-  std::string manip;
-  std::string robot;             // optional
-  sco::IntVec dofs_fixed;             // optional
+  sco::IntVec dofs_fixed;        // optional
   sco::ModelType convex_solver;  // which convex solver to use
 
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
@@ -89,10 +89,10 @@ Initialization info read from json
 */
 struct InitInfo
 {
-  /** @brief Methods of initializing the optimization matrix
+  /** @brief Methods of initializing the optimization matrix. This defines how robot moves from the current
+      state to the start state
 
-    STATIONARY: Initializes all joint values to the initial value (the current value in the env
-    pci.env->getCurrentJointValues)
+    STATIONARY: Initializes all joint values to the initial value (the current value in the env)
     JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
     GIVEN_TRAJ: Initializes the matrix to a given trajectory
 
@@ -106,8 +106,12 @@ struct InitInfo
   };
   /** @brief Specifies the type of initialization to use */
   Type type;
-  /** @brief Data used during initialization. Use depends on the initialization selected. */
-  trajopt::TrajArray data;
+  /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
+      to create initialization matrix. We need to give the goal information to this init info
+   */
+  //trajopt::TrajArray data; This data type does not seem correct, it should be of type VectorXd
+  Eigen::VectorXd end_pos;
+  trajopt::TrajArray start_to_end_trajectory;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
   double dt = 1.0;
 };
@@ -121,7 +125,10 @@ struct TermInfo
 {
   std::string name;
   int term_type;
-  int getSupportedTypes() { return supported_term_types_; }
+  int getSupportedTypes()
+  {
+    return supported_term_types_;
+  }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
   virtual void hatch(TrajOptProblem& prob) = 0;
 
@@ -137,13 +144,15 @@ struct TermInfo
   virtual ~TermInfo() = default;
 
 protected:
-  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types) {}
+  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types)
+  {
+  }
+
 private:
   static std::map<std::string, MakerFunc> name2maker;
   int supported_term_types_;
 };
 
-
 struct ProblemInfo
 {
 public:
@@ -153,66 +162,91 @@ struct ProblemInfo
   std::vector<TermInfoPtr> cnt_infos;
   InitInfo init_info;
 
-  //  tesseract::BasicEnvConstPtr env;
-  //  tesseract::BasicKinConstPtr kin;
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg)
-    : planning_scene(ps), planning_group_name(pg) {}
-  //  void fromJson(const Json::Value& v);
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg) : planning_scene(ps), planning_group_name(pg)
+  {
+  }
 
 private:
-  // void readBasicInfo(const Json::Value& v);
-  // void readOptInfo(const Json::Value& v);
-  // void readCosts(const Json::Value& v);
-  // void readConstraints(const Json::Value& v);
-  //  void readInitInfo(const Json::Value& v);
-};
 
+};
 
 /**
  * Holds all the data for a trajectory optimization problem
  * so you can modify it programmatically, e.g. add your own costs
  */
-class  TrajOptProblem :  public sco::OptProb
+class TrajOptProblem : public sco::OptProb
 {
 public:
   TrajOptProblem();
   TrajOptProblem(const ProblemInfo& problem_info);
   virtual ~TrajOptProblem() = default;
-  sco::VarVector GetVarRow(int i, int start_col, int num_col) { return m_traj_vars.rblock(i, start_col, num_col); }
-  sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
-  sco::Var& GetVar(int i, int j) { return m_traj_vars.at(i, j); }
-  trajopt::VarArray& GetVars() { return m_traj_vars; }
+  /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
+  sco::VarVector GetVarRow(int i, int start_col, int num_col)
+  {
+    return m_traj_vars.rblock(i, start_col, num_col);
+  }
+  /** @brief Returns the values of all joints for the specified timestep i.*/
+  sco::VarVector GetVarRow(int i)
+  {
+    return m_traj_vars.row(i);
+  }
+  /** @brief Returns the value of the specified joint j for the specified timestep i.*/
+  sco::Var& GetVar(int i, int j)
+  {
+    return m_traj_vars.at(i, j);
+  }
+  trajopt::VarArray& GetVars()
+  {
+    return m_traj_vars;
+  }
   /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
-  int GetNumSteps() { return m_traj_vars.rows(); }
+  int GetNumSteps()
+  {
+    return m_traj_vars.rows();
+  }
   /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
    * Note that this is not necessarily the same as the kinematic DOF.*/
-  int GetNumDOF() { return m_traj_vars.cols(); }
-  // tesseract::BasicKinConstPtr GetKin() { return m_kin; }
-  //tesseract::BasicEnvConstPtr GetEnv() { return m_env; }
-  planning_scene::PlanningSceneConstPtr GetPlanningScene() { return planning_scene_;}
-  void SetInitTraj(const trajopt::TrajArray& x){  m_init_traj = x; }
-  trajopt::TrajArray GetInitTraj() { return m_init_traj; }
+  int GetNumDOF()
+  {
+    return m_traj_vars.cols();
+  }
+  planning_scene::PlanningSceneConstPtr GetPlanningScene()
+  {
+    return planning_scene_;
+  }
+  void SetInitTraj(const trajopt::TrajArray& x)
+  {
+    m_init_traj = x;
+  }
+  trajopt::TrajArray GetInitTraj()
+  {
+    return m_init_traj;
+  }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
-  bool GetHasTime() { return has_time; }
+  bool GetHasTime()
+  {
+    return has_time;
+  }
   /** @brief Sets TrajOptProb.has_time  */
-  void SetHasTime(bool tmp) { has_time = tmp; }
+  void SetHasTime(bool tmp)
+  {
+    has_time = tmp;
+  }
 
 private:
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
+  /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
   trajopt::VarArray m_traj_vars;
-  // tesseract::BasicKinConstPtr m_kin;
-  // tesseract::BasicEnvConstPtr m_env;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string planning_group_;
   trajopt::TrajArray m_init_traj;
 };
 
-
 /** @brief This term is used when the goal frame is fixed in cartesian space
 
   Set term_type == TT_COST or TT_CNT for cost or constraint.
@@ -240,9 +274,13 @@ struct CartPoseTermInfo : public TermInfo
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
   void hatch(TrajOptProblem& prob) override;
-  DEFINE_CREATE(CartPoseTermInfo)
-};
 
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new CartPoseTermInfo());
+    return out;
+  }
+};
 
 /**
   \brief Joint space position cost
@@ -254,7 +292,7 @@ struct CartPoseTermInfo : public TermInfo
   \f}
   where \f$i\f$ indexes over dof and \f$c_i\f$ are coeffs
  */
-struct JointPosTermInfo : public TermInfo
+struct JointPoseTermInfo : public TermInfo
 {
   /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
   trajopt::DblVec coeffs;
@@ -270,15 +308,50 @@ struct JointPosTermInfo : public TermInfo
   int last_step = -1;
 
   /** @brief Initialize term with it's supported types */
-  JointPosTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME) {}
+  JointPoseTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
+  {
+  }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
   void hatch(TrajOptProblem& prob) override;
-  DEFINE_CREATE(JointPosTermInfo)
+
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new JointPoseTermInfo());
+    return out;
+  }
 };
 
+struct JointVelTermInfo : public TermInfo
+{
+  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec coeffs;
+  /** @brief Vector of velocity targets. This is a required value. Size should be the DOF of the system */
+  trajopt::DblVec targets;
+  /** @brief Vector of velocity upper limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec upper_tols;
+  /** @brief Vector of velocity lower limits. Size should be the DOF of the system. Default: vector of 0's*/
+  trajopt::DblVec lower_tols;
+  /** @brief First time step to which the term is applied. Default: 0*/
+  int first_step = 0;
+  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
+  int last_step = -1;
+
+  /** @brief Initialize term with it's supported types */
+  JointVelTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
+  {
+  }
 
+  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
+  void hatch(TrajOptProblem& prob) override;
+
+  static TermInfoPtr create()
+  {
+    TermInfoPtr out(new JointVelTermInfo());
+    return out;
+  }
+};
 
-trajopt::TrajArray generateInitialTrajectory(const int& num_steps, const std::vector<double>& joint_vals);
+  void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values, trajopt::TrajArray& init_traj);
 
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface.h
index b4dd24c9b2..deabc02168 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface.h
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2012, Willow Garage, Inc.
+ *  Copyright (c) 2019, PickNik, Inc.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -14,7 +14,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of Willow Garage nor the names of its
+ *   * Neither the name of PickNik nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
@@ -39,65 +39,44 @@
 
 #include <ros/ros.h>
 
-#include <trajopt_sco/sco_common.hpp>
-#include <trajopt_sco/optimizers.hpp>
-#include <trajopt_sco/solver_interface.hpp>
-
-#include <trajopt/plot_callback.hpp>
-#include <trajopt/file_write_callback.hpp>
-#include <trajopt/problem_description.hpp>
-#include <trajopt_utils/config.hpp>
-#include <trajopt_utils/logging.hpp>
-
-#include <tesseract_planning/basic_planner_types.h>
-
-#include <trajopt_sco/solver_interface.hpp>
-
-#include <trajopt_sco/optimizers.hpp>
 #include <trajopt_sco/sco_common.hpp>
 
 #include "problem_description.h"
 
-#include <moveit/planning_interface/planning_request.h>
-#include <moveit/planning_interface/planning_response.h>
 #include <moveit/planning_interface/planning_interface.h>
 
 namespace trajopt_interface
 {
 MOVEIT_CLASS_FORWARD(TrajOptInterface);
 
-class TrajOptInterface //: public trajopt::TrajOptPlanner
+class TrajOptInterface
 {
 public:
+  TrajOptInterface(const ros::NodeHandle& nh  = ros::NodeHandle("~"));
 
-  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
-
-  const sco::BasicTrustRegionSQPParameters& getParams() const { return params_; }
-
-  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const planning_interface::MotionPlanRequest& req,
-             const sco::BasicTrustRegionSQPParameters& params,  moveit_msgs::MotionPlanDetailedResponse& res);
-
+  const sco::BasicTrustRegionSQPParameters& getParams() const
+  {
+    return params_;
+  }
 
+  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
+             const planning_interface::MotionPlanRequest& req,
+             moveit_msgs::MotionPlanDetailedResponse& res);
 
 protected:
   /** @brief Configure everything using the param server */
-  void setParamsFromRosParamServer();
-  void setDefaultParams();
+  void setTrajOptParams(sco::BasicTrustRegionSQPParameters& param);
+  void setDefaultTrajOPtParams();
+  void setProblemInfoParam(ProblemInfo& problem_info);
+  void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
 
   ros::NodeHandle nh_;  /// The ROS node handle
-
   sco::BasicTrustRegionSQPParameters params_;
-
-  sco::Optimizer::Callback callbacks_;
-
+  std::vector<sco::Optimizer::Callback> callbacks_;
   TrajOptProblemPtr prob_;
-
-  // a function to convert TrajArray (TrajArray has no dependency on tesseract) from trajopt_ros to trajectory_msgs::JointTrajectory.Points
-  trajectory_msgs::JointTrajectory convertTrajArrayToJointTrajectory(const trajopt::TrajArray& traj_array, const std::vector<std::string>& j_names);
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
-
 }
 
 #endif
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_planning_context.h
index 92d6642aa6..3a6497bcf8 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_planning_context.h
@@ -1,30 +1,14 @@
 #ifndef TrajOpt_PLANNING_CONTEXT_H
 #define TrajOpt_PLANNING_CONTEXT_H
 
-#include <moveit/planning_interface/planning_request.h>
-#include <moveit/planning_interface/planning_response.h>
 #include <moveit/planning_interface/planning_interface.h>
 
-#include <trajopt/plot_callback.hpp>
-#include <trajopt/file_write_callback.hpp>
-#include <trajopt/problem_description.hpp>
-#include <trajopt_utils/config.hpp>
-#include <trajopt_utils/logging.hpp>
-
-#include <tesseract_planning/basic_planner_types.h>
-
-#include <trajopt_sco/solver_interface.hpp>
-
-#include <trajopt_sco/optimizers.hpp>
-#include <trajopt_sco/sco_common.hpp>
 
 #include "problem_description.h"
 #include "trajopt_interface.h"
 
-
 namespace trajopt_interface
 {
-
 MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
 
 class TrajOptPlanningContext : public planning_interface::PlanningContext
@@ -43,13 +27,11 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   void clear() override;
 
 protected:
-
 private:
-
   moveit::core::RobotModelConstPtr robot_model_;
 
   TrajOptInterfacePtr trajopt_interface_;
 };
-} // namespace trajopt_interface
+}  // namespace trajopt_interface
 
 #endif  // TrajOpt_PLANNING_CONTEXT_H
diff --git a/moveit_planners/trajopt/launch/gdb_settings.gdb b/moveit_planners/trajopt/launch/gdb_settings.gdb
deleted file mode 100644
index d8ac14fee4..0000000000
--- a/moveit_planners/trajopt/launch/gdb_settings.gdb
+++ /dev/null
@@ -1,8 +0,0 @@
-## This file allows developers to set breakpoints in the CPP_EXECUTABLE_NAME.launch file
-## To set a breakpoint, compile with debug flag set to true. Add a line below with the source file name,
-## a colon, then the line number to break on. Then launch CPP_EXECUTABLE_NAME with argument debug:=true
-
-set breakpoint pending on
-
-## Example break point:
-# break CPP_EXECUTABLE_NAME.cpp:52
\ No newline at end of file
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
index c80e5c93e1..f0d35bdeaa 100644
--- a/moveit_planners/trajopt/launch/test_trajopt_launch.launch
+++ b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
@@ -28,7 +28,6 @@
 
     <!-- Robot-specific settings -->
     <rosparam file="$(find moveit_planners_trajopt)/config/setup.yaml" command="load"/>
-    <rosparam file="$(find moveit_planners_trajopt)/config/panda_ompl_planning.yaml" command="load"/>
   </node>
 
 </launch>
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index 28c2c27033..5b3d48a1c2 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -2,8 +2,13 @@
 #include "trajopt_planning_context.h"
 #include <moveit/planning_interface/planning_interface.h>
 
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/robot_state.h>
+
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit_msgs/DisplayTrajectory.h>
@@ -14,224 +19,304 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
 
-// test
+#include <geometry_msgs/TransformStamped.h>
+#include <tf2/utils.h>
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_ros/transform_listener.h>
+
+
+// This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in
+// MotionPlanRequest
+// and visualize the result using trajopt planner.
+// Three cases:
+// 1- joint constraint with start_fixed true, meaining current state of the robot is the initial state of trajectory.
+// 2- joint constraint with start_fixed false, meainig more than one goal should be given. The robot jumps to the first
+// goal
+//    and motion planning is done between first goal and second goal.
+// 3- Cartesian constraint.
 
 int main(int argc, char** argv)
 {
-    const std::string node_name = "trajopot_planning_tutorial";
-      ros::init(argc, argv, node_name);
-      ros::AsyncSpinner spinner(1);
-      spinner.start();
-      ros::NodeHandle node_handle("~");
-
-      const std::string PLANNING_GROUP = "panda_arm";
-      robot_model_loader::RobotModelLoaderPtr robot_model_loader(new robot_model_loader::RobotModelLoader("robot_description"));
-      robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
-      /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
-      robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));
-      const robot_state::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
-      robot_state->setToDefaultValues();
-
-      const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
-      planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
-
-      // With the planning scene we create a planing scene monitor that
-      // monitors planning scene diffs and applys them to the planning scene
-      planning_scene_monitor::PlanningSceneMonitorPtr psm(
-          new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
-      psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
-      psm->startStateMonitor();
-      psm->startSceneMonitor();
-
-      while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
-       {
-         ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
-        }
-      // We will now construct a loader to load a planner, by name.
-      // Note that we are using the ROS pluginlib library here.
-      boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
-      planning_interface::PlannerManagerPtr planner_instance;
-
-      std::string planner_plugin_name;
-
-       planner_plugin_name = "trajopt_interface/TrajOptPlanner";
-
-      // planner_plugin_name = "ompl_interface/OMPLPlanner";
-      // node_handle.getParam("...", ...);
-
-      node_handle.setParam("planning_plugin", planner_plugin_name);
-
-    // making sure to catch all exceptions.
-    if (!node_handle.getParam("planning_plugin", planner_plugin_name))
-      ROS_FATAL_STREAM("Could not find planner plugin name");
-    try
-    {
-      planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
-          "moveit_core", "planning_interface::PlannerManager"));
-      printf("===>>> planner_plugin_name: %s \n", planner_plugin_name.c_str());
-    }
-    catch (pluginlib::PluginlibException& ex)
-    {
-      ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
-    }
-    try
-    {
-      planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
-      if (!planner_instance->initialize(robot_model, node_handle.getNamespace())) // namespace ????. I dont use it
-        ROS_FATAL_STREAM("Could not initialize planner instance");
-      ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
-    }
-    catch (pluginlib::PluginlibException& ex)
-    {
-      const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
-      std::stringstream ss;
-      for (std::size_t i = 0; i < classes.size(); ++i)
-        ss << classes[i] << " ";
-      ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
-                                                           << "Available plugins: " << ss.str());
-     }
-
-    // Visualization
-    // ========================================================================================
-    // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
-    // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
-    namespace rvt = rviz_visual_tools;
-    moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
-    visual_tools.loadRobotStatePub("/display_robot_state");
-    visual_tools.enableBatchPublishing();
-    visual_tools.deleteAllMarkers();  // clear all old markers
-    visual_tools.trigger();
-
-    /* Remote control is an introspection tool that allows users to step through a high level script
-       via buttons and keyboard shortcuts in RViz */
-    visual_tools.loadRemoteControl();
-
-    /* RViz provides many types of markers, in this demo we will use text, cylinders, and spheres*/
-    Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
-    text_pose.translation().z() = 1.75;
-    visual_tools.publishText(text_pose, "Motion Planning API Demo", rvt::WHITE, rvt::XLARGE);
-
-    /* Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations */
-    visual_tools.trigger();
-
-    /* We can also use visual_tools to wait for user input */
-    visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
-
-    // Pose Goal
-    // ========================================================================================
-    // We will now create a motion plan request for the arm of the Panda
-    // specifying the desired pose of the end-effector as input.
-    visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
-    visual_tools.trigger();
-    planning_interface::MotionPlanRequest req;
-    planning_interface::MotionPlanResponse res;
-    geometry_msgs::PoseStamped pose;
-    pose.header.frame_id = "panda_link0";
-    pose.pose.position.x = 0.3;
-    pose.pose.position.y = 0.4;
-    pose.pose.position.z = 0.75;
-    pose.pose.orientation.w = 1.0;
-
-    // A tolerance of 0.01 m is specified in position
-    // and 0.01 radians in orientation
-    std::vector<double> tolerance_pose(3, 0.01);
-    std::vector<double> tolerance_angle(3, 0.01);
-
-    // We will create the request as a constraint using a helper function available
-    // from the
-    // `kinematic_constraints`_
-    // package.
-    //
-    // .. _kinematic_constraints:
-    //     http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
-    moveit_msgs::Constraints pose_goal =
-        kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
-
-    //    req.group_name = PLANNING_GROUP;
-    // req.goal_constraints.push_back(pose_goal);
-
-    // set the request start joint state
-    // ========================================================================================
-    // get the joint values of the start state
-    std::vector<double> start_joint_values;
-    robot_state->copyJointGroupPositions(joint_model_group, start_joint_values);
-    int r = 0;
-    for (auto x : start_joint_values)
-    {
-      printf("===>>> joint: %s with value: %f \n", joint_names[r].c_str(), x);
-      ++r;
-    }
+  const std::string node_name = "trajopot_planning_tutorial";
+  ros::init(argc, argv, node_name);
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+  ros::NodeHandle node_handle("~");
+
+  const std::string PLANNING_GROUP = "panda_arm";
+  robot_model_loader::RobotModelLoaderPtr robot_model_loader(
+      new robot_model_loader::RobotModelLoader("robot_description"));
+  robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
+
+  /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
+  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
+  current_state->setToDefaultValues();
+
+  const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(PLANNING_GROUP);
+  const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
+  planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
+
+  // With the planning scene we create a planing scene monitor that
+  // monitors planning scene diffs and applys them to the planning scene
+  planning_scene_monitor::PlanningSceneMonitorPtr psm(
+      new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
+  psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
+  psm->startStateMonitor();
+  psm->startSceneMonitor();
+
+  // set the start joint state
+  // ========================================================================================
+  // panda_arm joint limits:
+  //   -2.8973  2.8973
+  //   -1.7628  1.7628
+  //   -2.8973  2.8973
+  //   -3.0718 -0.0698
+  //   -2.8973  2.8973
+  //   -0.0175  3.7525
+  //   -2.8973  2.8973
+
+  std::vector<double> start_joint_values = {0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
+  robot_state::RobotStatePtr start_state(new robot_state::RobotState(robot_model));
+  start_state->setJointGroupPositions(joint_model_group, start_joint_values);
+  start_state->update();
+
+  //  planning_scene->setCurrentState(*robot_state);
+
+  // get the joint values of the start state
+  // std::vector<double> tmp_joint_values;
+  // robot_state->copyJointGroupPositions(joint_model_group, tmp_joint_values);
+  // int r = 0;
+  // for (auto x : tmp_joint_values)
+  // {
+  //   printf("===>>> joint: %s with start value: %f \n", joint_names[r].c_str(), x);
+  //   ++r;
+  // }
+
+  // printf("--- get the joint values from planning scene current state");
+  // robot_state::RobotState current_state = planning_scene->getCurrentState();
+  // std::vector<double> tmp_j_values;
+  // current_state.copyJointGroupPositions(joint_model_group, tmp_j_values);
+  // r = 0;
+  // for (auto x : tmp_j_values)
+  // {
+  //   printf("===>>> joint: %s with start value: %f \n", joint_names[r].c_str(), x);
+  //   ++r;
+  // }
+
+
+
+  // ========================================================================================
+
+  while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
+  {
+    ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
+  }
+  // We will now construct a loader to load a planner, by name.
+  // Note that we are using the ROS pluginlib library here.
+  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
+  planning_interface::PlannerManagerPtr planner_instance;
+
+  std::string planner_plugin_name;
+
+  planner_plugin_name = "trajopt_interface/TrajOptPlanner";
+  node_handle.setParam("planning_plugin", planner_plugin_name);
+
+  // making sure to catch all exceptions.
+  if (!node_handle.getParam("planning_plugin", planner_plugin_name))
+    ROS_FATAL_STREAM("Could not find planner plugin name");
+  try
+  {
+    planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
+        "moveit_core", "planning_interface::PlannerManager"));
+    printf("===>>> planner_plugin_name: %s \n", planner_plugin_name.c_str());
+  }
+  catch (pluginlib::PluginlibException& ex)
+  {
+    ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
+  }
+  try
+  {
+    planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
+    if (!planner_instance->initialize(robot_model, node_handle.getNamespace()))  // namespace ????. I dont use it
+      ROS_FATAL_STREAM("Could not initialize planner instance");
+    ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
+  }
+  catch (pluginlib::PluginlibException& ex)
+  {
+    const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
+    std::stringstream ss;
+    for (std::size_t i = 0; i < classes.size(); ++i)
+      ss << classes[i] << " ";
+    ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
+                                                         << "Available plugins: " << ss.str());
+  }
+
+  // Visualization
+  // ========================================================================================
+  // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
+  // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
+  namespace rvt = rviz_visual_tools;
+  moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
+  visual_tools.loadRobotStatePub("/display_robot_state");
+  visual_tools.enableBatchPublishing();
+  visual_tools.deleteAllMarkers();  // clear all old markers
+  visual_tools.trigger();
+
+  /* Remote control is an introspection tool that allows users to step through a high level script
+     via buttons and keyboard shortcuts in RViz */
+  visual_tools.loadRemoteControl();
+
+  /* RViz provides many types of markers, in this demo we will use text, cylinders, and spheres*/
+  Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
+  text_pose.translation().z() = 1.75;
+  visual_tools.publishText(text_pose, "Motion Planning API Demo", rvt::WHITE, rvt::XLARGE);
+
+  /* Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations */
+  visual_tools.trigger();
+
+  /* We can also use visual_tools to wait for user input */
+  visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
+
+  // res req
+  planning_interface::MotionPlanRequest req;
+  planning_interface::MotionPlanResponse res;
+
+  req.start_state.joint_state.name = joint_names;
+  req.start_state.joint_state.position = start_joint_values;
+
+  // set the goal joint state and joints tolerance
+  // ========================================================================================
+  robot_state::RobotState goal_state(robot_model);
+  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
+  goal_state.setJointGroupPositions(joint_model_group, goal_joint_values);
+  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
+  req.goal_constraints.clear();
+  req.goal_constraints.push_back(joint_goal);
+  req.group_name = PLANNING_GROUP;
+  req.goal_constraints[0].name = "goal_pos";
+
+  // set joint tolerance
+  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[0].joint_constraints;
+  for (int x = 0; x < goal_joint_constraint.size(); ++x)
+  {
+    std::cout << "==>> joint position at goal " << goal_joint_constraint[x].position << std::endl;
+    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.1;
+    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.1;
+  }
+
+  robot_state::RobotState middle_state(robot_model);
+  std::vector<double> middle_joint_values = {0.5, 0.4, 0.65, -0.75, 1.05, 1.25, -0.15 };
+  middle_state.setJointGroupPositions(joint_model_group, middle_joint_values);
+  middle_state.update();
+  moveit_msgs::Constraints joint_middle = kinematic_constraints::constructGoalConstraints(middle_state, joint_model_group);
+  req.goal_constraints.push_back(joint_middle);
+  req.goal_constraints[1].name = "middle_pos";
+  std::cout << "hereeeeeeeeeeeeeeeeeeeeeeee 1 " << req.goal_constraints[1].joint_constraints[0].position  << std::endl;
+  std::vector<moveit_msgs::JointConstraint> middle_joint_constraint = req.goal_constraints[1].joint_constraints;
+  std::cout << "hereeeeeeeeeeeeeeeeeeeeeeee 2" << std::endl;
+  for (int x = 0; x < middle_joint_constraint.size(); ++x)
+  {
+    std::cout << "==>> joint position at middle " << middle_joint_constraint[x].position << std::endl;
+    req.goal_constraints[1].joint_constraints[x].tolerance_above = 0.1;
+    req.goal_constraints[1].joint_constraints[x].tolerance_below = 0.1;
+  }
+
+  std::cout << "===>>> number of constraints in goal: " << req.goal_constraints.size() << std::endl;
+  // planning context
+  // ========================================================================================
+  planning_interface::PlanningContextPtr context =
+      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
 
-    req.start_state.joint_state.name = joint_names;
-    req.start_state.joint_state.position = start_joint_values;
-
-    // set the goal joint state
-    // ========================================================================================
-    robot_state::RobotState goal_state(robot_model);
-    std::vector<double> joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1};
-    goal_state.setJointGroupPositions(joint_model_group, joint_values);
-    moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
-    req.goal_constraints.clear();
-    req.goal_constraints.push_back(joint_goal);
-    req.group_name = PLANNING_GROUP;
-
-    // retrive joint values at goal
-    std::vector<moveit_msgs::Constraints> goal_constraints = req.goal_constraints;
-    std::cout << "===>>> number of constraints in goal: " << goal_constraints.size() << std::endl;
-    std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = goal_constraints[0].joint_constraints;
-    for (auto x : goal_joint_constraint)
-    {
-      std::cout << "==>> joint position at goal " << x.position << std::endl;
-    }
+  context->solve(res);
+  if (res.error_code_.val != res.error_code_.SUCCESS)
+  {
+    ROS_ERROR("Could not compute plan successfully");
+    return 0;
+  }
 
-    // planning context
-    planning_interface::PlanningContextPtr context =
-      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
+  visual_tools.prompt("Press 'next' to visualize the result");
+
+  // Visualize the result
+  // ========================================================================================
+  ros::Publisher display_publisher =
+      node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
+  moveit_msgs::DisplayTrajectory display_trajectory;
+
+  /* Visualize the trajectory */
+  moveit_msgs::MotionPlanResponse response;
+  res.getMessage(response);
 
-    context->solve(res);
-    if (res.error_code_.val != res.error_code_.SUCCESS)
+  for (int timestep_index = 0; timestep_index < response.trajectory.joint_trajectory.points.size(); ++timestep_index)
+  {
+    for (int joint_index = 0;
+         joint_index < response.trajectory.joint_trajectory.points[timestep_index].positions.size(); ++joint_index)
     {
-      ROS_ERROR("Could not compute plan successfully");
-      return 0;
+      std::cout << response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index] << "  ";
     }
+    std::cout << std::endl;
+  }
 
-    visual_tools.prompt("Press 'next' to visualize the result");
+  display_trajectory.trajectory_start = response.trajectory_start;
+  display_trajectory.trajectory.push_back(response.trajectory);
 
-    // Visualize the result
-    // ========================================================================================
-    ros::Publisher display_publisher =
-      node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
-    moveit_msgs::DisplayTrajectory display_trajectory;
+  visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
+  visual_tools.trigger();
+  display_publisher.publish(display_trajectory);
+
+
+  std::cout << "===>>> group name:" << response.group_name << std::endl;
+  std::cout << "===>>> traj start joint name size: " << response.trajectory_start.joint_state.name.size() << std::endl;
+  std::cout << "===>>> traj start joint position size: " << response.trajectory_start.joint_state.position.size()
+            << std::endl;
+
+  std::cout << "===>>> traj joint names size: " << response.trajectory.joint_trajectory.joint_names.size() << std::endl;
+
+  for (int jn = 0; jn < response.trajectory.joint_trajectory.joint_names.size(); ++jn)
+  {
+    std::cout << "===>>> joint_" << jn << ": " << response.trajectory.joint_trajectory.joint_names[jn]  << std::endl;
+  }
+
+
+  const std::vector<std::string>& str = joint_model_group->getLinkModelNames();
+  printf("end effector name %s\n", str.back().c_str());
+
+  const Eigen::Affine3d& end_effector_transform_current =  current_state->getGlobalLinkTransform(str.back());
+  geometry_msgs::PoseStamped pose_msg;
+  pose_msg.header.stamp = ros::Time::now();
+  pose_msg.header.frame_id = robot_model->getModelFrame();
+  pose_msg.pose = tf2::toMsg(end_effector_transform_current);
+
+  visual_tools.publishAxisLabeled(pose_msg.pose, "current");
+  visual_tools.publishText(text_pose, "current pose", rvt::WHITE, rvt::XLARGE);
+  visual_tools.trigger();
 
-    /* Visualize the trajectory */
-    moveit_msgs::MotionPlanResponse response;
-    res.getMessage(response);
+  const Eigen::Affine3d& end_effector_transform_start =  start_state->getGlobalLinkTransform(str.back());
+  pose_msg.header.stamp = ros::Time::now();
+  pose_msg.header.frame_id = robot_model->getModelFrame();
+  pose_msg.pose = tf2::toMsg(end_effector_transform_start);
 
-    for (int timestep_index = 0; timestep_index < response.trajectory.joint_trajectory.points.size(); ++timestep_index)
-      {
-        for (int joint_index = 0; joint_index < response.trajectory.joint_trajectory.points[timestep_index].positions.size(); ++joint_index)
-          {
-            std::cout << response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index] << "  ";
-          }
-        std::cout << std::endl;
-      }
+  visual_tools.publishAxisLabeled(pose_msg.pose, "start");
+  visual_tools.publishText(text_pose, "start pose", rvt::BLUE, rvt::XLARGE);
+  visual_tools.trigger();
 
-    display_trajectory.trajectory_start = response.trajectory_start;
-    display_trajectory.trajectory.push_back(response.trajectory);
 
-    visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
-    visual_tools.trigger();
-    display_publisher.publish(display_trajectory);
+  const Eigen::Affine3d& end_effector_transform_middle =  middle_state.getGlobalLinkTransform(str.back());
+  pose_msg.header.stamp = ros::Time::now();
+  pose_msg.header.frame_id = robot_model->getModelFrame();
+  pose_msg.pose = tf2::toMsg(end_effector_transform_middle);
 
-  // Set the state in the planning scene to the final state of the last plan
-  // robot_state->setJointGroupPositions(joint_model_group, response.trajectory.joint_trajectory.points.back().positions);
-  // planning_scene->setCurrentState(*robot_state.get());
+  visual_tools.publishAxisLabeled(pose_msg.pose, "middle");
+  visual_tools.publishText(text_pose, "middle pose", rvt::BLUE, rvt::XLARGE);
+  visual_tools.trigger();
 
-  // Display the goal state
-  // visual_tools.publishRobotState(planning_scene->getCurrentStateNonConst(), rviz_visual_tools::GREEN);
-  // visual_tools.publishAxisLabeled(pose.pose, "goal_1");
-  // visual_tools.publishText(text_pose, "Pose Goal (1)", rvt::WHITE, rvt::XLARGE);
-  // visual_tools.trigger();
+  const Eigen::Affine3d& end_effector_transform_goal =  goal_state.getGlobalLinkTransform(str.back());
+  pose_msg.header.stamp = ros::Time::now();
+  pose_msg.header.frame_id = robot_model->getModelFrame();
+  pose_msg.pose = tf2::toMsg(end_effector_transform_goal);
 
+  visual_tools.publishAxisLabeled(pose_msg.pose, "goal");
+  visual_tools.publishText(text_pose, "goal pose", rvt::BLUE, rvt::XLARGE);
+  visual_tools.trigger();
 
+  visual_tools.prompt("Press 'next' to finish demo \n");
 }

From f722b0ff2ea9eed7c48622588354c184ff6ecc8b Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Tue, 30 Jul 2019 14:55:02 -0600
Subject: [PATCH 72/96] addressed some comments leave setup assistant changes
 for later on another PR cleaned up test_trajopt added unittest

---
 moveit_planners/trajopt/config/setup.yaml     |  42 ++---
 .../trajopt_interface/kinematic_terms.h       |  39 ++--
 .../kinematic_terms.h~HEAD}                   |  41 +++--
 .../trajopt_interface/problem_description.h   |  49 +++--
 .../problem_description.h~HEAD}               |  60 ++++---
 .../trajopt_interface/trajopt_interface.h     |  20 ++-
 .../trajopt_interface.h~HEAD}                 |  25 ++-
 .../trajopt_planning_context.h                |  10 +-
 .../trajopt_planning_context.h~HEAD}          |  11 +-
 moveit_planners/trajopt/src/test_trajopt.cpp  | 170 ++++++------------
 .../widgets/configuration_files_widget.cpp    |  21 ---
 11 files changed, 209 insertions(+), 279 deletions(-)
 rename moveit_planners/trajopt/include/{kinematic_terms.h => trajopt_interface/kinematic_terms.h~HEAD} (63%)
 rename moveit_planners/trajopt/include/{problem_description.h => trajopt_interface/problem_description.h~HEAD} (88%)
 rename moveit_planners/trajopt/include/{trajopt_interface.h => trajopt_interface/trajopt_interface.h~HEAD} (83%)
 rename moveit_planners/trajopt/include/{trajopt_planning_context.h => trajopt_interface/trajopt_planning_context.h~HEAD} (80%)

diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
index d844f801d5..d3c8518cdd 100644
--- a/moveit_planners/trajopt/config/setup.yaml
+++ b/moveit_planners/trajopt/config/setup.yaml
@@ -1,24 +1,24 @@
 trajopt_param:
-  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step
-  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence
+  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step. [Research Paper] TrueImprove/ModelImprove > c
+  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence. [Research Paper] xtol
   min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
   min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
   max_iter: 100                   # The max number of iterations
-  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio
-  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio
-  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done
-  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient
-  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time
+  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao-
+  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao+
+  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done. [Research Paper] ctol
+  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient. [Reasearch Paper] Max iteration in PenaltyIteration loop
+  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time. [Researcy Paper] Penalty scaling factory (italic kappa)
   max_time: .inf                  # not yet implemented
-  merit_error_coeff: 10           # initial penalty coefficient
-  trust_box_size: 1e-1            # current size of trust region (component-wise)
+  merit_error_coeff: 10           # initial penalty coefficient. [Research Paper] mu_0
+  trust_box_size: 1e-1            # current size of trust region (component-wise). [Research Paper] s
 
 problem_info:
   basic_info:
     n_steps: 20                # 2 * steps_per_phase
     dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
     dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
-    start_fixed: true          # if true, start pose is the current pose and the req.start_state is ignored
+    start_fixed: true          # if true, start pose is the current pose at timestep = 0
     # if false, the start pose is the one given by req.start_state
     use_time: flase            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
     # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
@@ -26,23 +26,25 @@ problem_info:
     #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
 
   init_info:
-    type: 2                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
+    type: 3                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
     # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
     dt: 0.5
 
 joint_pos_term_info:
-  start_pos:
+  start_pos:   # from req.start_state
     name: start_pos
-    first_timestep: 0                # First time step to which the term is applied.
-    last_timestep: 0                # Last time step to which the term is applied. n_steps - 1
+    first_timestep: 10                # First time step to which the term is applied.
+    last_timestep: 10                # Last time step to which the term is applied.
+    # if start_fixed is trure then we can not set the first_timestep to 0 for start_pos as it is going
+    # to be ignored and only the current pose would be the constraint at timestep = 0.
     term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
   middle_pos:
     name: middle_pos
-    first_timestep: 10                # First time step to which the term is applied.
-    last_timestep: 10                # Last time step to which the term is applied. n_steps - 1
-    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+    first_timestep: 15
+    last_timestep: 15
+    term_type: 2
   goal_pos:
     name: goal_pos
-    first_timestep: 19                # First time step to which the term is applied.
-    last_timestep: 19                # Last time step to which the term is applied. n_steps - 1
-    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
+    first_timestep: 19
+    last_timestep: 19
+    term_type: 2
diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 96274cf9c7..51dac66b6a 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -4,38 +4,33 @@
 
 #include <Eigen/Geometry>
 
+using namespace Eigen;
+using namespace std;
+
 namespace trajopt_interface
 {
-/**
- * @brief Extracts the vector part of quaternion
- */
-inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
+Vector3d rotVec(const Matrix3d& m)
 {
-  Eigen::Quaterniond quaternion;
-  quaternion = matrix;
-  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
+  Quaterniond q;
+  q = m;
+  return Vector3d(q.x(), q.y(), q.z());
 }
 
-/**
- * @brief Appends b to a of type VectorXd
- */
-inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
+VectorXd concat(const VectorXd& a, const VectorXd& b)
 {
-  Eigen::VectorXd out(vector_a.size() + vector_b.size());
-  out.topRows(vector_a.size()) = vector_a;
-  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
+  VectorXd out(a.size() + b.size());
+  out.topRows(a.size()) = a;
+  out.middleRows(a.size(), b.size()) = b;
   return out;
 }
 
-/**
- * @brief Appends b to a of type T
- */
 template <typename T>
-inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
+vector<T> concat(const vector<T>& a, const vector<T>& b)
 {
-  std::vector<T> out;
-  out.insert(out.end(), vector_a.begin(), vector_a.end());
-  out.insert(out.end(), vector_b.begin(), vector_b.end());
+  vector<T> out;
+  vector<int> x(a.size() + b.size());
+  out.insert(out.end(), a.begin(), a.end());
+  out.insert(out.end(), b.begin(), b.end());
   return out;
 }
 
@@ -52,7 +47,7 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::Isometry3d tcp_;
 
   CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
-                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                        std::string link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
   {
   }
diff --git a/moveit_planners/trajopt/include/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
similarity index 63%
rename from moveit_planners/trajopt/include/kinematic_terms.h
rename to moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
index c61052194a..96274cf9c7 100644
--- a/moveit_planners/trajopt/include/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
@@ -4,33 +4,38 @@
 
 #include <Eigen/Geometry>
 
-using namespace Eigen;
-using namespace std;
-
 namespace trajopt_interface
 {
-Vector3d rotVec(const Matrix3d& m)
+/**
+ * @brief Extracts the vector part of quaternion
+ */
+inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
 {
-  Quaterniond q;
-  q = m;
-  return Vector3d(q.x(), q.y(), q.z());
+  Eigen::Quaterniond quaternion;
+  quaternion = matrix;
+  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
 }
 
-VectorXd concat(const VectorXd& a, const VectorXd& b)
+/**
+ * @brief Appends b to a of type VectorXd
+ */
+inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
 {
-  VectorXd out(a.size() + b.size());
-  out.topRows(a.size()) = a;
-  out.middleRows(a.size(), b.size()) = b;
+  Eigen::VectorXd out(vector_a.size() + vector_b.size());
+  out.topRows(vector_a.size()) = vector_a;
+  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
   return out;
 }
 
+/**
+ * @brief Appends b to a of type T
+ */
 template <typename T>
-vector<T> concat(const vector<T>& a, const vector<T>& b)
+inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
 {
-  vector<T> out;
-  vector<int> x(a.size() + b.size());
-  out.insert(out.end(), a.begin(), a.end());
-  out.insert(out.end(), b.begin(), b.end());
+  std::vector<T> out;
+  out.insert(out.end(), vector_a.begin(), vector_a.end());
+  out.insert(out.end(), vector_b.begin(), vector_b.end());
   return out;
 }
 
@@ -47,7 +52,7 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::Isometry3d tcp_;
 
   CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
-                        std::string link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
   {
   }
@@ -85,4 +90,4 @@ struct JointVelJacobianCalculator : sco::MatrixOfVector
   Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
 };
 
-}  // namespace trajopt
+}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index 825c82262d..dbb9c040e5 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -112,7 +112,7 @@ struct InitInfo
   /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
       to create initialization matrix. We need to give the goal information to this init info
    */
-  trajopt::TrajArray data;
+  trajopt::TrajArray data;  // This data type does not seem correct, it should be of type VectorXd
   //  Eigen::VectorXd data_vec;
   //  trajopt::TrajArray data_trajectory;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
@@ -122,7 +122,7 @@ struct InitInfo
 /**
 When cost or constraint element of JSON doc is read, one of these guys gets
 constructed to hold the parameters.
-Then it later gets converted to a Cost object by the addObjectiveTerms method
+Then it later gets converted to a Cost object by the hatch method
 */
 struct TermInfo
 {
@@ -133,7 +133,7 @@ struct TermInfo
     return supported_term_types_;
   }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
+  virtual void hatch(TrajOptProblem& prob) = 0;
 
   static TermInfoPtr fromName(const std::string& type);
 
@@ -141,7 +141,7 @@ struct TermInfo
    * Registers a user-defined TermInfo so you can use your own cost
    * see function RegisterMakers.cpp
    */
-  using MakerFunc = TermInfoPtr (*)(void);
+  typedef TermInfoPtr (*MakerFunc)(void);
   static void RegisterMaker(const std::string& type, MakerFunc);
 
   virtual ~TermInfo() = default;
@@ -152,7 +152,7 @@ struct TermInfo
   }
 
 private:
-  static std::map<std::string, MakerFunc> name_to_maker_;
+  static std::map<std::string, MakerFunc> name2maker;
   int supported_term_types_;
 };
 
@@ -168,10 +168,11 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
-    : planning_scene(ps), planning_group_name(pg)
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg) : planning_scene(ps), planning_group_name(pg)
   {
   }
+
+private:
 };
 
 /**
@@ -187,38 +188,32 @@ class TrajOptProblem : public sco::OptProb
   /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
   sco::VarVector GetVarRow(int i, int start_col, int num_col)
   {
-    return matrix_traj_vars.rblock(i, start_col, num_col);
+    return m_traj_vars.rblock(i, start_col, num_col);
   }
   /** @brief Returns the values of all joints for the specified timestep i.*/
   sco::VarVector GetVarRow(int i)
   {
-    return matrix_traj_vars.row(i);
+    return m_traj_vars.row(i);
   }
   /** @brief Returns the value of the specified joint j for the specified timestep i.*/
   sco::Var& GetVar(int i, int j)
   {
-    return matrix_traj_vars.at(i, j);
+    return m_traj_vars.at(i, j);
   }
   trajopt::VarArray& GetVars()
   {
-    return matrix_traj_vars;
+    return m_traj_vars;
   }
   /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
   int GetNumSteps()
   {
-    return matrix_traj_vars.rows();
+    return m_traj_vars.rows();
   }
   /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
    * Note that this is not necessarily the same as the kinematic DOF.*/
   int GetNumDOF()
   {
-    return matrix_traj_vars.cols();
-  }
-  /** @brief Returns the kinematic DOF of the active joint model group
-   */
-  int GetActiveGroupNumDOF()
-  {
-    return dof_;
+    return m_traj_vars.cols();
   }
   planning_scene::PlanningSceneConstPtr GetPlanningScene()
   {
@@ -226,11 +221,11 @@ class TrajOptProblem : public sco::OptProb
   }
   void SetInitTraj(const trajopt::TrajArray& x)
   {
-    matrix_init_traj = x;
+    m_init_traj = x;
   }
   trajopt::TrajArray GetInitTraj()
   {
-    return matrix_init_traj;
+    return m_init_traj;
   }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
@@ -248,12 +243,10 @@ class TrajOptProblem : public sco::OptProb
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
   /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
-  trajopt::VarArray matrix_traj_vars;
+  trajopt::VarArray m_traj_vars;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string planning_group_;
-  /** @brief Kinematic DOF of the active joint model group  */
-  int dof_;
-  trajopt::TrajArray matrix_init_traj;
+  trajopt::TrajArray m_init_traj;
 };
 
 /** @brief This term is used when the goal frame is fixed in cartesian space
@@ -282,7 +275,7 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
+  void hatch(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -322,7 +315,7 @@ struct JointPoseTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
+  void hatch(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -352,7 +345,7 @@ struct JointVelTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
+  void hatch(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
diff --git a/moveit_planners/trajopt/include/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
similarity index 88%
rename from moveit_planners/trajopt/include/problem_description.h
rename to moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
index 8d1bd605e1..825c82262d 100644
--- a/moveit_planners/trajopt/include/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
@@ -49,6 +49,9 @@ MOVEIT_CLASS_FORWARD(JointPoseTermInfo);
 struct CartPoseTermInfo;
 MOVEIT_CLASS_FORWARD(CartPoseTermInfo);
 
+struct JointVelTermInfo;
+MOVEIT_CLASS_FORWARD(JointVelTermInfo);
+
 struct ProblemInfo;
 TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
 
@@ -109,9 +112,9 @@ struct InitInfo
   /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
       to create initialization matrix. We need to give the goal information to this init info
    */
-  //trajopt::TrajArray data; This data type does not seem correct, it should be of type VectorXd
-  Eigen::VectorXd end_pos;
-  trajopt::TrajArray start_to_end_trajectory;
+  trajopt::TrajArray data;
+  //  Eigen::VectorXd data_vec;
+  //  trajopt::TrajArray data_trajectory;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
   double dt = 1.0;
 };
@@ -119,7 +122,7 @@ struct InitInfo
 /**
 When cost or constraint element of JSON doc is read, one of these guys gets
 constructed to hold the parameters.
-Then it later gets converted to a Cost object by the hatch method
+Then it later gets converted to a Cost object by the addObjectiveTerms method
 */
 struct TermInfo
 {
@@ -130,7 +133,7 @@ struct TermInfo
     return supported_term_types_;
   }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void hatch(TrajOptProblem& prob) = 0;
+  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
 
   static TermInfoPtr fromName(const std::string& type);
 
@@ -138,7 +141,7 @@ struct TermInfo
    * Registers a user-defined TermInfo so you can use your own cost
    * see function RegisterMakers.cpp
    */
-  typedef TermInfoPtr (*MakerFunc)(void);
+  using MakerFunc = TermInfoPtr (*)(void);
   static void RegisterMaker(const std::string& type, MakerFunc);
 
   virtual ~TermInfo() = default;
@@ -149,7 +152,7 @@ struct TermInfo
   }
 
 private:
-  static std::map<std::string, MakerFunc> name2maker;
+  static std::map<std::string, MakerFunc> name_to_maker_;
   int supported_term_types_;
 };
 
@@ -165,12 +168,10 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg) : planning_scene(ps), planning_group_name(pg)
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
+    : planning_scene(ps), planning_group_name(pg)
   {
   }
-
-private:
-
 };
 
 /**
@@ -186,32 +187,38 @@ class TrajOptProblem : public sco::OptProb
   /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
   sco::VarVector GetVarRow(int i, int start_col, int num_col)
   {
-    return m_traj_vars.rblock(i, start_col, num_col);
+    return matrix_traj_vars.rblock(i, start_col, num_col);
   }
   /** @brief Returns the values of all joints for the specified timestep i.*/
   sco::VarVector GetVarRow(int i)
   {
-    return m_traj_vars.row(i);
+    return matrix_traj_vars.row(i);
   }
   /** @brief Returns the value of the specified joint j for the specified timestep i.*/
   sco::Var& GetVar(int i, int j)
   {
-    return m_traj_vars.at(i, j);
+    return matrix_traj_vars.at(i, j);
   }
   trajopt::VarArray& GetVars()
   {
-    return m_traj_vars;
+    return matrix_traj_vars;
   }
   /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
   int GetNumSteps()
   {
-    return m_traj_vars.rows();
+    return matrix_traj_vars.rows();
   }
   /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
    * Note that this is not necessarily the same as the kinematic DOF.*/
   int GetNumDOF()
   {
-    return m_traj_vars.cols();
+    return matrix_traj_vars.cols();
+  }
+  /** @brief Returns the kinematic DOF of the active joint model group
+   */
+  int GetActiveGroupNumDOF()
+  {
+    return dof_;
   }
   planning_scene::PlanningSceneConstPtr GetPlanningScene()
   {
@@ -219,11 +226,11 @@ class TrajOptProblem : public sco::OptProb
   }
   void SetInitTraj(const trajopt::TrajArray& x)
   {
-    m_init_traj = x;
+    matrix_init_traj = x;
   }
   trajopt::TrajArray GetInitTraj()
   {
-    return m_init_traj;
+    return matrix_init_traj;
   }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
@@ -241,10 +248,12 @@ class TrajOptProblem : public sco::OptProb
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
   /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
-  trajopt::VarArray m_traj_vars;
+  trajopt::VarArray matrix_traj_vars;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string planning_group_;
-  trajopt::TrajArray m_init_traj;
+  /** @brief Kinematic DOF of the active joint model group  */
+  int dof_;
+  trajopt::TrajArray matrix_init_traj;
 };
 
 /** @brief This term is used when the goal frame is fixed in cartesian space
@@ -273,7 +282,7 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -313,7 +322,7 @@ struct JointPoseTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -343,7 +352,7 @@ struct JointVelTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -352,6 +361,7 @@ struct JointVelTermInfo : public TermInfo
   }
 };
 
-  void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values, trajopt::TrajArray& init_traj);
+void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
+                               trajopt::TrajArray& init_traj);
 
 }  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
index 74432fa83c..1837af5a9e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, PickNik, LLC.
+ *  Copyright (c) 2019, PickNik, Inc.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -33,13 +33,18 @@
  *********************************************************************/
 
 /* Author: Omid Heidari */
-#pragma once
+
+#ifndef TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+#define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
 
 #include <ros/ros.h>
+
 #include <trajopt_sco/sco_common.hpp>
-#include <moveit/planning_interface/planning_interface.h>
+
 #include "problem_description.h"
 
+#include <moveit/planning_interface/planning_interface.h>
+
 namespace trajopt_interface
 {
 MOVEIT_CLASS_FORWARD(TrajOptInterface);
@@ -63,15 +68,14 @@ class TrajOptInterface
   void setDefaultTrajOPtParams();
   void setProblemInfoParam(ProblemInfo& problem_info);
   void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
-  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
-                                          const std::vector<std::string>& group_joint_names);
 
   ros::NodeHandle nh_;  /// The ROS node handle
   sco::BasicTrustRegionSQPParameters params_;
-  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
-  TrajOptProblemPtr trajopt_problem_;
-  std::string name_;
+  std::vector<sco::Optimizer::Callback> callbacks_;
+  TrajOptProblemPtr prob_;
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
 }
+
+#endif
diff --git a/moveit_planners/trajopt/include/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
similarity index 83%
rename from moveit_planners/trajopt/include/trajopt_interface.h
rename to moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
index deabc02168..74432fa83c 100644
--- a/moveit_planners/trajopt/include/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, PickNik, Inc.
+ *  Copyright (c) 2019, PickNik, LLC.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -33,17 +33,12 @@
  *********************************************************************/
 
 /* Author: Omid Heidari */
-
-#ifndef TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
-#define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+#pragma once
 
 #include <ros/ros.h>
-
 #include <trajopt_sco/sco_common.hpp>
-
-#include "problem_description.h"
-
 #include <moveit/planning_interface/planning_interface.h>
+#include "problem_description.h"
 
 namespace trajopt_interface
 {
@@ -52,7 +47,7 @@ MOVEIT_CLASS_FORWARD(TrajOptInterface);
 class TrajOptInterface
 {
 public:
-  TrajOptInterface(const ros::NodeHandle& nh  = ros::NodeHandle("~"));
+  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
 
   const sco::BasicTrustRegionSQPParameters& getParams() const
   {
@@ -60,8 +55,7 @@ class TrajOptInterface
   }
 
   bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
-             const planning_interface::MotionPlanRequest& req,
-             moveit_msgs::MotionPlanDetailedResponse& res);
+             const planning_interface::MotionPlanRequest& req, moveit_msgs::MotionPlanDetailedResponse& res);
 
 protected:
   /** @brief Configure everything using the param server */
@@ -69,14 +63,15 @@ class TrajOptInterface
   void setDefaultTrajOPtParams();
   void setProblemInfoParam(ProblemInfo& problem_info);
   void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
+  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
+                                          const std::vector<std::string>& group_joint_names);
 
   ros::NodeHandle nh_;  /// The ROS node handle
   sco::BasicTrustRegionSQPParameters params_;
-  std::vector<sco::Optimizer::Callback> callbacks_;
-  TrajOptProblemPtr prob_;
+  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
+  TrajOptProblemPtr trajopt_problem_;
+  std::string name_;
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
 }
-
-#endif
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
index 12676f57e7..cebbc4b6f6 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -1,9 +1,10 @@
-#pragma once
+#ifndef TrajOpt_PLANNING_CONTEXT_H
+#define TrajOpt_PLANNING_CONTEXT_H
 
 #include <moveit/planning_interface/planning_interface.h>
 
-#include <trajopt_interface/problem_description.h>
-#include <trajopt_interface/trajopt_interface.h>
+#include "trajopt_interface/problem_description.h"
+#include "trajopt_interface/trajopt_interface.h"
 
 namespace trajopt_interface
 {
@@ -24,9 +25,12 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
+protected:
 private:
   moveit::core::RobotModelConstPtr robot_model_;
 
   TrajOptInterfacePtr trajopt_interface_;
 };
 }  // namespace trajopt_interface
+
+#endif  // TrajOpt_PLANNING_CONTEXT_H
diff --git a/moveit_planners/trajopt/include/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
similarity index 80%
rename from moveit_planners/trajopt/include/trajopt_planning_context.h
rename to moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
index 3a6497bcf8..12676f57e7 100644
--- a/moveit_planners/trajopt/include/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
@@ -1,11 +1,9 @@
-#ifndef TrajOpt_PLANNING_CONTEXT_H
-#define TrajOpt_PLANNING_CONTEXT_H
+#pragma once
 
 #include <moveit/planning_interface/planning_interface.h>
 
-
-#include "problem_description.h"
-#include "trajopt_interface.h"
+#include <trajopt_interface/problem_description.h>
+#include <trajopt_interface/trajopt_interface.h>
 
 namespace trajopt_interface
 {
@@ -26,12 +24,9 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
-protected:
 private:
   moveit::core::RobotModelConstPtr robot_model_;
 
   TrajOptInterfacePtr trajopt_interface_;
 };
 }  // namespace trajopt_interface
-
-#endif  // TrajOpt_PLANNING_CONTEXT_H
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
index 5b3d48a1c2..5dd17985b2 100644
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ b/moveit_planners/trajopt/src/test_trajopt.cpp
@@ -1,5 +1,4 @@
 #include <ros/ros.h>
-#include "trajopt_planning_context.h"
 #include <moveit/planning_interface/planning_interface.h>
 
 #include <moveit/move_group_interface/move_group_interface.h>
@@ -24,16 +23,11 @@
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_ros/transform_listener.h>
 
+#include "trajopt_interface/trajopt_planning_context.h"
 
 // This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in
-// MotionPlanRequest
-// and visualize the result using trajopt planner.
+// MotionPlanRequest and visualize the result calculated by using trajopt planner.
 // Three cases:
-// 1- joint constraint with start_fixed true, meaining current state of the robot is the initial state of trajectory.
-// 2- joint constraint with start_fixed false, meainig more than one goal should be given. The robot jumps to the first
-// goal
-//    and motion planning is done between first goal and second goal.
-// 3- Cartesian constraint.
 
 int main(int argc, char** argv)
 {
@@ -48,7 +42,7 @@ int main(int argc, char** argv)
       new robot_model_loader::RobotModelLoader("robot_description"));
   robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
 
-  /* Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group*/
+  // Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group
   robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
   current_state->setToDefaultValues();
 
@@ -56,16 +50,19 @@ int main(int argc, char** argv)
   const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
   planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
 
-  // With the planning scene we create a planing scene monitor that
-  // monitors planning scene diffs and applys them to the planning scene
+  // With the planning scene we create a planing scene monitor
   planning_scene_monitor::PlanningSceneMonitorPtr psm(
       new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
   psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
   psm->startStateMonitor();
   psm->startSceneMonitor();
 
-  // set the start joint state
-  // ========================================================================================
+  // res req
+  planning_interface::MotionPlanRequest req;
+  planning_interface::MotionPlanResponse res;
+
+  // set start state
+  // ======================================================================================
   // panda_arm joint limits:
   //   -2.8973  2.8973
   //   -1.7628  1.7628
@@ -75,38 +72,54 @@ int main(int argc, char** argv)
   //   -0.0175  3.7525
   //   -2.8973  2.8973
 
-  std::vector<double> start_joint_values = {0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
+  std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
   robot_state::RobotStatePtr start_state(new robot_state::RobotState(robot_model));
   start_state->setJointGroupPositions(joint_model_group, start_joint_values);
   start_state->update();
 
-  //  planning_scene->setCurrentState(*robot_state);
-
-  // get the joint values of the start state
-  // std::vector<double> tmp_joint_values;
-  // robot_state->copyJointGroupPositions(joint_model_group, tmp_joint_values);
-  // int r = 0;
-  // for (auto x : tmp_joint_values)
-  // {
-  //   printf("===>>> joint: %s with start value: %f \n", joint_names[r].c_str(), x);
-  //   ++r;
-  // }
-
-  // printf("--- get the joint values from planning scene current state");
-  // robot_state::RobotState current_state = planning_scene->getCurrentState();
-  // std::vector<double> tmp_j_values;
-  // current_state.copyJointGroupPositions(joint_model_group, tmp_j_values);
-  // r = 0;
-  // for (auto x : tmp_j_values)
-  // {
-  //   printf("===>>> joint: %s with start value: %f \n", joint_names[r].c_str(), x);
-  //   ++r;
-  // }
-
-
-
+  req.start_state.joint_state.name = joint_names;
+  req.start_state.joint_state.position = start_joint_values;
+  req.goal_constraints.clear();
+  req.group_name = PLANNING_GROUP;
+  ROS_INFO(" ==================================== 0");
+  // set the middle and goal state and joints tolerance
   // ========================================================================================
+  robot_state::RobotStatePtr middle_state(new robot_state::RobotState(robot_model));
+  std::vector<double> middle_joint_values = { 0.5, 0.4, 0.65, -0.75, 1.05, 1.25, -0.15 };
+  middle_state->setJointGroupPositions(joint_model_group, middle_joint_values);
+  middle_state->update();
+  moveit_msgs::Constraints joint_middle =
+      kinematic_constraints::constructGoalConstraints(*middle_state, joint_model_group);
+  req.goal_constraints.push_back(joint_middle);
+  req.goal_constraints[0].name = "middle_pos";
+  // set joint tolerance
+  std::vector<moveit_msgs::JointConstraint> middle_joint_constraint = req.goal_constraints[0].joint_constraints;
+  for (int x = 0; x < middle_joint_constraint.size(); ++x)
+  {
+    ROS_INFO(" ======================================= joint position at goal: %f",
+             middle_joint_constraint[x].position);
+    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.001;
+    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.001;
+  }
 
+  robot_state::RobotStatePtr goal_state(new robot_state::RobotState(robot_model));
+  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
+  goal_state->setJointGroupPositions(joint_model_group, goal_joint_values);
+  goal_state->update();
+  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(*goal_state, joint_model_group);
+  req.goal_constraints.push_back(joint_goal);
+  req.goal_constraints[1].name = "goal_pos";
+  // set joint tolerance
+  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[1].joint_constraints;
+  for (int x = 0; x < goal_joint_constraint.size(); ++x)
+  {
+    ROS_INFO(" ======================================= joint position at goal: %f", goal_joint_constraint[x].position);
+    req.goal_constraints[1].joint_constraints[x].tolerance_above = 0.001;
+    req.goal_constraints[1].joint_constraints[x].tolerance_below = 0.001;
+  }
+
+  // Load planner
+  // ======================================================================================
   while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
   {
     ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
@@ -153,8 +166,6 @@ int main(int argc, char** argv)
 
   // Visualization
   // ========================================================================================
-  // The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
-  // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
   namespace rvt = rviz_visual_tools;
   moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
   visual_tools.loadRobotStatePub("/display_robot_state");
@@ -177,51 +188,6 @@ int main(int argc, char** argv)
   /* We can also use visual_tools to wait for user input */
   visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
 
-  // res req
-  planning_interface::MotionPlanRequest req;
-  planning_interface::MotionPlanResponse res;
-
-  req.start_state.joint_state.name = joint_names;
-  req.start_state.joint_state.position = start_joint_values;
-
-  // set the goal joint state and joints tolerance
-  // ========================================================================================
-  robot_state::RobotState goal_state(robot_model);
-  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
-  goal_state.setJointGroupPositions(joint_model_group, goal_joint_values);
-  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);
-  req.goal_constraints.clear();
-  req.goal_constraints.push_back(joint_goal);
-  req.group_name = PLANNING_GROUP;
-  req.goal_constraints[0].name = "goal_pos";
-
-  // set joint tolerance
-  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[0].joint_constraints;
-  for (int x = 0; x < goal_joint_constraint.size(); ++x)
-  {
-    std::cout << "==>> joint position at goal " << goal_joint_constraint[x].position << std::endl;
-    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.1;
-    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.1;
-  }
-
-  robot_state::RobotState middle_state(robot_model);
-  std::vector<double> middle_joint_values = {0.5, 0.4, 0.65, -0.75, 1.05, 1.25, -0.15 };
-  middle_state.setJointGroupPositions(joint_model_group, middle_joint_values);
-  middle_state.update();
-  moveit_msgs::Constraints joint_middle = kinematic_constraints::constructGoalConstraints(middle_state, joint_model_group);
-  req.goal_constraints.push_back(joint_middle);
-  req.goal_constraints[1].name = "middle_pos";
-  std::cout << "hereeeeeeeeeeeeeeeeeeeeeeee 1 " << req.goal_constraints[1].joint_constraints[0].position  << std::endl;
-  std::vector<moveit_msgs::JointConstraint> middle_joint_constraint = req.goal_constraints[1].joint_constraints;
-  std::cout << "hereeeeeeeeeeeeeeeeeeeeeeee 2" << std::endl;
-  for (int x = 0; x < middle_joint_constraint.size(); ++x)
-  {
-    std::cout << "==>> joint position at middle " << middle_joint_constraint[x].position << std::endl;
-    req.goal_constraints[1].joint_constraints[x].tolerance_above = 0.1;
-    req.goal_constraints[1].joint_constraints[x].tolerance_below = 0.1;
-  }
-
-  std::cout << "===>>> number of constraints in goal: " << req.goal_constraints.size() << std::endl;
   // planning context
   // ========================================================================================
   planning_interface::PlanningContextPtr context =
@@ -263,24 +229,10 @@ int main(int argc, char** argv)
   visual_tools.trigger();
   display_publisher.publish(display_trajectory);
 
-
-  std::cout << "===>>> group name:" << response.group_name << std::endl;
-  std::cout << "===>>> traj start joint name size: " << response.trajectory_start.joint_state.name.size() << std::endl;
-  std::cout << "===>>> traj start joint position size: " << response.trajectory_start.joint_state.position.size()
-            << std::endl;
-
-  std::cout << "===>>> traj joint names size: " << response.trajectory.joint_trajectory.joint_names.size() << std::endl;
-
-  for (int jn = 0; jn < response.trajectory.joint_trajectory.joint_names.size(); ++jn)
-  {
-    std::cout << "===>>> joint_" << jn << ": " << response.trajectory.joint_trajectory.joint_names[jn]  << std::endl;
-  }
-
-
   const std::vector<std::string>& str = joint_model_group->getLinkModelNames();
-  printf("end effector name %s\n", str.back().c_str());
+  ROS_INFO("end effector name %s\n", str.back().c_str());
 
-  const Eigen::Affine3d& end_effector_transform_current =  current_state->getGlobalLinkTransform(str.back());
+  const Eigen::Affine3d& end_effector_transform_current = current_state->getGlobalLinkTransform(str.back());
   geometry_msgs::PoseStamped pose_msg;
   pose_msg.header.stamp = ros::Time::now();
   pose_msg.header.frame_id = robot_model->getModelFrame();
@@ -288,34 +240,30 @@ int main(int argc, char** argv)
 
   visual_tools.publishAxisLabeled(pose_msg.pose, "current");
   visual_tools.publishText(text_pose, "current pose", rvt::WHITE, rvt::XLARGE);
-  visual_tools.trigger();
 
-  const Eigen::Affine3d& end_effector_transform_start =  start_state->getGlobalLinkTransform(str.back());
+  const Eigen::Affine3d& end_effector_transform_start = start_state->getGlobalLinkTransform(str.back());
   pose_msg.header.stamp = ros::Time::now();
   pose_msg.header.frame_id = robot_model->getModelFrame();
   pose_msg.pose = tf2::toMsg(end_effector_transform_start);
 
   visual_tools.publishAxisLabeled(pose_msg.pose, "start");
   visual_tools.publishText(text_pose, "start pose", rvt::BLUE, rvt::XLARGE);
-  visual_tools.trigger();
-
 
-  const Eigen::Affine3d& end_effector_transform_middle =  middle_state.getGlobalLinkTransform(str.back());
+  const Eigen::Affine3d& end_effector_transform_middle = middle_state->getGlobalLinkTransform(str.back());
   pose_msg.header.stamp = ros::Time::now();
   pose_msg.header.frame_id = robot_model->getModelFrame();
   pose_msg.pose = tf2::toMsg(end_effector_transform_middle);
 
   visual_tools.publishAxisLabeled(pose_msg.pose, "middle");
-  visual_tools.publishText(text_pose, "middle pose", rvt::BLUE, rvt::XLARGE);
-  visual_tools.trigger();
+  visual_tools.publishText(text_pose, "middle pose", rvt::RED, rvt::XLARGE);
 
-  const Eigen::Affine3d& end_effector_transform_goal =  goal_state.getGlobalLinkTransform(str.back());
+  const Eigen::Affine3d& end_effector_transform_goal = goal_state->getGlobalLinkTransform(str.back());
   pose_msg.header.stamp = ros::Time::now();
   pose_msg.header.frame_id = robot_model->getModelFrame();
   pose_msg.pose = tf2::toMsg(end_effector_transform_goal);
 
   visual_tools.publishAxisLabeled(pose_msg.pose, "goal");
-  visual_tools.publishText(text_pose, "goal pose", rvt::BLUE, rvt::XLARGE);
+  visual_tools.publishText(text_pose, "goal pose", rvt::WHITE, rvt::XLARGE);
   visual_tools.trigger();
 
   visual_tools.prompt("Press 'next' to finish demo \n");
diff --git a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
index a2b9e1f03b..5356e9801b 100644
--- a/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
+++ b/moveit_setup_assistant/src/widgets/configuration_files_widget.cpp
@@ -374,18 +374,6 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;
   gen_files_.push_back(file);
 
-  // trajopt_planning_pipeline.launch
-  // --------------------------------------------------------------------------------------
-  file.file_name_ = "trajopt_planning_pipeline.launch.xml";
-  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
-  template_path = config_data_->appendPaths(template_launch_path, file.file_name_);
-  file.description_ = "Intended to be included in other launch files that require the TrajOpt planning plugin. Defines "
-                      "the proper plugin name on the parameter server and a default selection of planning request "
-                      "adapters.";
-  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
-  file.write_on_changes = 0;
-  gen_files_.push_back(file);
-
   // chomp_planning_pipeline.launch
   // --------------------------------------------------------------------------------------
   file.file_name_ = "chomp_planning_pipeline.launch.xml";
@@ -443,15 +431,6 @@ bool ConfigurationFilesWidget::loadGenFiles()
   file.write_on_changes = 0;
   gen_files_.push_back(file);
 
-  // run_benchmark_trajopt.launch --------------------------------------------------------------------------------------
-  file.file_name_ = "run_benchmark_trajopt.launch";
-  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
-  template_path = config_data_->appendPaths(template_launch_path, file.file_name_);
-  file.description_ = "Launch file for benchmarking TrajOpt planners";
-  file.gen_func_ = boost::bind(&ConfigurationFilesWidget::copyTemplate, this, template_path, _1);
-  file.write_on_changes = 0;
-  gen_files_.push_back(file);
-
   // sensor_manager.launch --------------------------------------------------------------------------------------
   file.file_name_ = "sensor_manager.launch.xml";
   file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);

From c35c7d1ecdc54e01879737d208feccd379ca8906 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 1 Aug 2019 15:32:41 -0600
Subject: [PATCH 73/96] added kinematic DOF of the active joint model group to
 TrajOptProblem class added name_ for ROS_DEBUG_STREAM_NAMED addressed the
 comments moved launch file to moveit_tutorial moved yaml file to
 panda_moveit_config used bullet for collision checking

---
 .gitignore                                    |   3 +
 moveit_planners/trajopt/config/setup.yaml     |  50 ----
 .../trajopt_interface/kinematic_terms.h       |  31 +-
 .../trajopt_interface/problem_description.h   |  38 ++-
 .../trajopt_interface/trajopt_interface.h     |   8 +-
 .../trajopt_planning_context.h                |   1 -
 .../trajopt/launch/test_trajopt_launch.launch |  33 ---
 moveit_planners/trajopt/src/test_trajopt.cpp  | 270 ------------------
 8 files changed, 48 insertions(+), 386 deletions(-)
 delete mode 100644 moveit_planners/trajopt/config/setup.yaml
 delete mode 100644 moveit_planners/trajopt/launch/test_trajopt_launch.launch
 delete mode 100644 moveit_planners/trajopt/src/test_trajopt.cpp

diff --git a/.gitignore b/.gitignore
index cfc7f50ba4..917f3b56be 100644
--- a/.gitignore
+++ b/.gitignore
@@ -59,6 +59,9 @@ qtcreator-*
 #gdb
 *.gdb
 <<<<<<< HEAD
+<<<<<<< HEAD
 =======
 /moveit_planners/trajopt/launch/gdb_settings.gdb
 >>>>>>> addressed the comments
+=======
+>>>>>>> added kinematic DOF of the active joint model group to TrajOptProblem class
diff --git a/moveit_planners/trajopt/config/setup.yaml b/moveit_planners/trajopt/config/setup.yaml
deleted file mode 100644
index d3c8518cdd..0000000000
--- a/moveit_planners/trajopt/config/setup.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-trajopt_param:
-  improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step. [Research Paper] TrueImprove/ModelImprove > c
-  min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence. [Research Paper] xtol
-  min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
-  min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
-  max_iter: 100                   # The max number of iterations
-  trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao-
-  trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao+
-  cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done. [Research Paper] ctol
-  max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient. [Reasearch Paper] Max iteration in PenaltyIteration loop
-  merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time. [Researcy Paper] Penalty scaling factory (italic kappa)
-  max_time: .inf                  # not yet implemented
-  merit_error_coeff: 10           # initial penalty coefficient. [Research Paper] mu_0
-  trust_box_size: 1e-1            # current size of trust region (component-wise). [Research Paper] s
-
-problem_info:
-  basic_info:
-    n_steps: 20                # 2 * steps_per_phase
-    dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
-    dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
-    start_fixed: true          # if true, start pose is the current pose at timestep = 0
-    # if false, the start pose is the one given by req.start_state
-    use_time: flase            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
-    # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
-    convex_solver: 1           # which convex solver to use
-    #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
-
-  init_info:
-    type: 3                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
-    # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
-    dt: 0.5
-
-joint_pos_term_info:
-  start_pos:   # from req.start_state
-    name: start_pos
-    first_timestep: 10                # First time step to which the term is applied.
-    last_timestep: 10                # Last time step to which the term is applied.
-    # if start_fixed is trure then we can not set the first_timestep to 0 for start_pos as it is going
-    # to be ignored and only the current pose would be the constraint at timestep = 0.
-    term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
-  middle_pos:
-    name: middle_pos
-    first_timestep: 15
-    last_timestep: 15
-    term_type: 2
-  goal_pos:
-    name: goal_pos
-    first_timestep: 19
-    last_timestep: 19
-    term_type: 2
diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 51dac66b6a..9a9a8a5d38 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -4,31 +4,38 @@
 
 #include <Eigen/Geometry>
 
-using namespace Eigen;
-using namespace std;
-
 namespace trajopt_interface
 {
-Vector3d rotVec(const Matrix3d& m)
+
+/**
+ * @brief Extracts the vector part of quaternion
+ */
+inline Eigen::Vector3d rotVec(const Eigen::Matrix3d& m)
 {
-  Quaterniond q;
+  Eigen::Quaterniond q;
   q = m;
-  return Vector3d(q.x(), q.y(), q.z());
+  return Eigen::Vector3d(q.x(), q.y(), q.z());
 }
 
-VectorXd concat(const VectorXd& a, const VectorXd& b)
+/**
+ * @brief Appends b to a of type VectorXd
+ */
+inline Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
 {
-  VectorXd out(a.size() + b.size());
+  Eigen::VectorXd out(a.size() + b.size());
   out.topRows(a.size()) = a;
   out.middleRows(a.size(), b.size()) = b;
   return out;
 }
 
+/**
+ * @brief Appends b to a of type T
+ */
 template <typename T>
-vector<T> concat(const vector<T>& a, const vector<T>& b)
+std::vector<T> concat(const std::vector<T>& a, const std::vector<T>& b)
 {
-  vector<T> out;
-  vector<int> x(a.size() + b.size());
+  std::vector<T> out;
+  std::vector<int> x(a.size() + b.size());
   out.insert(out.end(), a.begin(), a.end());
   out.insert(out.end(), b.begin(), b.end());
   return out;
@@ -47,7 +54,7 @@ struct CartPoseErrCalculator : public sco::VectorOfVector
   Eigen::Isometry3d tcp_;
 
   CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
-                        std::string link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
+                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
     : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
   {
   }
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index dbb9c040e5..982862bea6 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -141,7 +141,7 @@ struct TermInfo
    * Registers a user-defined TermInfo so you can use your own cost
    * see function RegisterMakers.cpp
    */
-  typedef TermInfoPtr (*MakerFunc)(void);
+  using MakerFunc = TermInfoPtr (*)(void);
   static void RegisterMaker(const std::string& type, MakerFunc);
 
   virtual ~TermInfo() = default;
@@ -152,7 +152,7 @@ struct TermInfo
   }
 
 private:
-  static std::map<std::string, MakerFunc> name2maker;
+  static std::map<std::string, MakerFunc> name_to_maker_;
   int supported_term_types_;
 };
 
@@ -168,11 +168,9 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, std::string pg) : planning_scene(ps), planning_group_name(pg)
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg) : planning_scene(ps), planning_group_name(pg)
   {
   }
-
-private:
 };
 
 /**
@@ -188,32 +186,38 @@ class TrajOptProblem : public sco::OptProb
   /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
   sco::VarVector GetVarRow(int i, int start_col, int num_col)
   {
-    return m_traj_vars.rblock(i, start_col, num_col);
+    return matrix_traj_vars.rblock(i, start_col, num_col);
   }
   /** @brief Returns the values of all joints for the specified timestep i.*/
   sco::VarVector GetVarRow(int i)
   {
-    return m_traj_vars.row(i);
+    return matrix_traj_vars.row(i);
   }
   /** @brief Returns the value of the specified joint j for the specified timestep i.*/
   sco::Var& GetVar(int i, int j)
   {
-    return m_traj_vars.at(i, j);
+    return matrix_traj_vars.at(i, j);
   }
   trajopt::VarArray& GetVars()
   {
-    return m_traj_vars;
+    return matrix_traj_vars;
   }
   /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
   int GetNumSteps()
   {
-    return m_traj_vars.rows();
+    return matrix_traj_vars.rows();
   }
   /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
    * Note that this is not necessarily the same as the kinematic DOF.*/
   int GetNumDOF()
   {
-    return m_traj_vars.cols();
+    return matrix_traj_vars.cols();
+  }
+  /** @brief Returns the kinematic DOF of the active joint model group
+   */
+  int GetActiveGroupNumDOF()
+  {
+    return dof_;
   }
   planning_scene::PlanningSceneConstPtr GetPlanningScene()
   {
@@ -221,11 +225,11 @@ class TrajOptProblem : public sco::OptProb
   }
   void SetInitTraj(const trajopt::TrajArray& x)
   {
-    m_init_traj = x;
+    matrix_init_traj = x;
   }
   trajopt::TrajArray GetInitTraj()
   {
-    return m_init_traj;
+    return matrix_init_traj;
   }
   //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
   /** @brief Returns TrajOptProb.has_time */
@@ -243,10 +247,12 @@ class TrajOptProblem : public sco::OptProb
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
   bool has_time;
   /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
-  trajopt::VarArray m_traj_vars;
+  trajopt::VarArray matrix_traj_vars;
   planning_scene::PlanningSceneConstPtr planning_scene_;
   std::string planning_group_;
-  trajopt::TrajArray m_init_traj;
+  /** @brief Kinematic DOF of the active joint model group  */
+  int dof_;
+  trajopt::TrajArray matrix_init_traj;
 };
 
 /** @brief This term is used when the goal frame is fixed in cartesian space
@@ -354,6 +360,8 @@ struct JointVelTermInfo : public TermInfo
   }
 };
 
+
+
 void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
                                trajopt::TrajArray& init_traj);
 
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
index 1837af5a9e..b84acd976c 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, PickNik, Inc.
+ *  Copyright (c) 2019, PickNik, LLC.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -38,12 +38,9 @@
 #define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
 
 #include <ros/ros.h>
-
 #include <trajopt_sco/sco_common.hpp>
-
-#include "problem_description.h"
-
 #include <moveit/planning_interface/planning_interface.h>
+#include "problem_description.h"
 
 namespace trajopt_interface
 {
@@ -73,6 +70,7 @@ class TrajOptInterface
   sco::BasicTrustRegionSQPParameters params_;
   std::vector<sco::Optimizer::Callback> callbacks_;
   TrajOptProblemPtr prob_;
+  std::string name_;
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
index cebbc4b6f6..8aaa209b24 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -25,7 +25,6 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   bool terminate() override;
   void clear() override;
 
-protected:
 private:
   moveit::core::RobotModelConstPtr robot_model_;
 
diff --git a/moveit_planners/trajopt/launch/test_trajopt_launch.launch b/moveit_planners/trajopt/launch/test_trajopt_launch.launch
deleted file mode 100644
index f0d35bdeaa..0000000000
--- a/moveit_planners/trajopt/launch/test_trajopt_launch.launch
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- GDB Debug Arguments -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix"
-           value="gdb -x $(find moveit_planners_trajopt)/launch/gdb_settings.gdb --ex run --args" />
-
-  <!-- Callgrind Arguments -->
-  <arg name="callgrind" default="false" />
-  <arg unless="$(arg callgrind)" name="launch_prefix2" value="" />
-  <arg     if="$(arg callgrind)" name="launch_prefix2" value="valgrind --tool=callgrind --collect-atstart=no" />
-
-  <!-- Valgrind Arguments -->
-  <arg name="valgrind" default="false" />
-  <arg unless="$(arg valgrind)" name="launch_prefix3" value="" />
-  <arg     if="$(arg valgrind)" name="launch_prefix3" value="valgrind --tool=memcheck --leak-check=full --show-leak-kinds=all" />
-
-  <!-- Run Panda launch -->
-  <include file="$(find panda_moveit_config)/launch/demo.launch">
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="planner" value="trajopt"/>
-  </include>
-
-  <!-- Launch main node -->
-  <node name="$(anon moveit_planners_trajopt)" launch-prefix="$(arg launch_prefix) $(arg launch_prefix2) $(arg launch_prefix3)" pkg="moveit_planners_trajopt" type="test_trajopt" respawn="false" output="screen">
-
-    <!-- Robot-specific settings -->
-    <rosparam file="$(find moveit_planners_trajopt)/config/setup.yaml" command="load"/>
-  </node>
-
-</launch>
diff --git a/moveit_planners/trajopt/src/test_trajopt.cpp b/moveit_planners/trajopt/src/test_trajopt.cpp
deleted file mode 100644
index 5dd17985b2..0000000000
--- a/moveit_planners/trajopt/src/test_trajopt.cpp
+++ /dev/null
@@ -1,270 +0,0 @@
-#include <ros/ros.h>
-#include <moveit/planning_interface/planning_interface.h>
-
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
-
-#include <moveit/robot_model_loader/robot_model_loader.h>
-#include <moveit/planning_scene/planning_scene.h>
-#include <moveit/robot_state/robot_state.h>
-
-#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include <moveit/kinematic_constraints/utils.h>
-#include <moveit_msgs/DisplayTrajectory.h>
-#include <moveit_msgs/PlanningScene.h>
-#include <moveit_visual_tools/moveit_visual_tools.h>
-#include "moveit/planning_interface/planning_request.h"
-
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/robot_state/robot_state.h>
-
-#include <geometry_msgs/TransformStamped.h>
-#include <tf2/utils.h>
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_ros/transform_listener.h>
-
-#include "trajopt_interface/trajopt_planning_context.h"
-
-// This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in
-// MotionPlanRequest and visualize the result calculated by using trajopt planner.
-// Three cases:
-
-int main(int argc, char** argv)
-{
-  const std::string node_name = "trajopot_planning_tutorial";
-  ros::init(argc, argv, node_name);
-  ros::AsyncSpinner spinner(1);
-  spinner.start();
-  ros::NodeHandle node_handle("~");
-
-  const std::string PLANNING_GROUP = "panda_arm";
-  robot_model_loader::RobotModelLoaderPtr robot_model_loader(
-      new robot_model_loader::RobotModelLoader("robot_description"));
-  robot_model::RobotModelPtr robot_model = robot_model_loader->getModel();
-
-  // Create a RobotState and JointModelGroup to keep track of the current robot pose and planning group
-  robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
-  current_state->setToDefaultValues();
-
-  const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(PLANNING_GROUP);
-  const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
-  planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
-
-  // With the planning scene we create a planing scene monitor
-  planning_scene_monitor::PlanningSceneMonitorPtr psm(
-      new planning_scene_monitor::PlanningSceneMonitor(planning_scene, robot_model_loader));
-  psm->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE);
-  psm->startStateMonitor();
-  psm->startSceneMonitor();
-
-  // res req
-  planning_interface::MotionPlanRequest req;
-  planning_interface::MotionPlanResponse res;
-
-  // set start state
-  // ======================================================================================
-  // panda_arm joint limits:
-  //   -2.8973  2.8973
-  //   -1.7628  1.7628
-  //   -2.8973  2.8973
-  //   -3.0718 -0.0698
-  //   -2.8973  2.8973
-  //   -0.0175  3.7525
-  //   -2.8973  2.8973
-
-  std::vector<double> start_joint_values = { 0.4, 0.3, 0.5, -0.55, 0.88, 1.0, -0.075 };
-  robot_state::RobotStatePtr start_state(new robot_state::RobotState(robot_model));
-  start_state->setJointGroupPositions(joint_model_group, start_joint_values);
-  start_state->update();
-
-  req.start_state.joint_state.name = joint_names;
-  req.start_state.joint_state.position = start_joint_values;
-  req.goal_constraints.clear();
-  req.group_name = PLANNING_GROUP;
-  ROS_INFO(" ==================================== 0");
-  // set the middle and goal state and joints tolerance
-  // ========================================================================================
-  robot_state::RobotStatePtr middle_state(new robot_state::RobotState(robot_model));
-  std::vector<double> middle_joint_values = { 0.5, 0.4, 0.65, -0.75, 1.05, 1.25, -0.15 };
-  middle_state->setJointGroupPositions(joint_model_group, middle_joint_values);
-  middle_state->update();
-  moveit_msgs::Constraints joint_middle =
-      kinematic_constraints::constructGoalConstraints(*middle_state, joint_model_group);
-  req.goal_constraints.push_back(joint_middle);
-  req.goal_constraints[0].name = "middle_pos";
-  // set joint tolerance
-  std::vector<moveit_msgs::JointConstraint> middle_joint_constraint = req.goal_constraints[0].joint_constraints;
-  for (int x = 0; x < middle_joint_constraint.size(); ++x)
-  {
-    ROS_INFO(" ======================================= joint position at goal: %f",
-             middle_joint_constraint[x].position);
-    req.goal_constraints[0].joint_constraints[x].tolerance_above = 0.001;
-    req.goal_constraints[0].joint_constraints[x].tolerance_below = 0.001;
-  }
-
-  robot_state::RobotStatePtr goal_state(new robot_state::RobotState(robot_model));
-  std::vector<double> goal_joint_values = { 0.8, 0.7, 1, -1.3, 1.9, 2.2, -0.1 };
-  goal_state->setJointGroupPositions(joint_model_group, goal_joint_values);
-  goal_state->update();
-  moveit_msgs::Constraints joint_goal = kinematic_constraints::constructGoalConstraints(*goal_state, joint_model_group);
-  req.goal_constraints.push_back(joint_goal);
-  req.goal_constraints[1].name = "goal_pos";
-  // set joint tolerance
-  std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = req.goal_constraints[1].joint_constraints;
-  for (int x = 0; x < goal_joint_constraint.size(); ++x)
-  {
-    ROS_INFO(" ======================================= joint position at goal: %f", goal_joint_constraint[x].position);
-    req.goal_constraints[1].joint_constraints[x].tolerance_above = 0.001;
-    req.goal_constraints[1].joint_constraints[x].tolerance_below = 0.001;
-  }
-
-  // Load planner
-  // ======================================================================================
-  while (!psm->getStateMonitor()->haveCompleteState() && ros::ok())
-  {
-    ROS_INFO_STREAM_THROTTLE_NAMED(1, node_name, "Waiting for complete state from topic ");
-  }
-  // We will now construct a loader to load a planner, by name.
-  // Note that we are using the ROS pluginlib library here.
-  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
-  planning_interface::PlannerManagerPtr planner_instance;
-
-  std::string planner_plugin_name;
-
-  planner_plugin_name = "trajopt_interface/TrajOptPlanner";
-  node_handle.setParam("planning_plugin", planner_plugin_name);
-
-  // making sure to catch all exceptions.
-  if (!node_handle.getParam("planning_plugin", planner_plugin_name))
-    ROS_FATAL_STREAM("Could not find planner plugin name");
-  try
-  {
-    planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>(
-        "moveit_core", "planning_interface::PlannerManager"));
-    printf("===>>> planner_plugin_name: %s \n", planner_plugin_name.c_str());
-  }
-  catch (pluginlib::PluginlibException& ex)
-  {
-    ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
-  }
-  try
-  {
-    planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
-    if (!planner_instance->initialize(robot_model, node_handle.getNamespace()))  // namespace ????. I dont use it
-      ROS_FATAL_STREAM("Could not initialize planner instance");
-    ROS_INFO_STREAM("Using planning interface '" << planner_instance->getDescription() << "'");
-  }
-  catch (pluginlib::PluginlibException& ex)
-  {
-    const std::vector<std::string>& classes = planner_plugin_loader->getDeclaredClasses();
-    std::stringstream ss;
-    for (std::size_t i = 0; i < classes.size(); ++i)
-      ss << classes[i] << " ";
-    ROS_ERROR_STREAM("Exception while loading planner '" << planner_plugin_name << "': " << ex.what() << std::endl
-                                                         << "Available plugins: " << ss.str());
-  }
-
-  // Visualization
-  // ========================================================================================
-  namespace rvt = rviz_visual_tools;
-  moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, psm);
-  visual_tools.loadRobotStatePub("/display_robot_state");
-  visual_tools.enableBatchPublishing();
-  visual_tools.deleteAllMarkers();  // clear all old markers
-  visual_tools.trigger();
-
-  /* Remote control is an introspection tool that allows users to step through a high level script
-     via buttons and keyboard shortcuts in RViz */
-  visual_tools.loadRemoteControl();
-
-  /* RViz provides many types of markers, in this demo we will use text, cylinders, and spheres*/
-  Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
-  text_pose.translation().z() = 1.75;
-  visual_tools.publishText(text_pose, "Motion Planning API Demo", rvt::WHITE, rvt::XLARGE);
-
-  /* Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations */
-  visual_tools.trigger();
-
-  /* We can also use visual_tools to wait for user input */
-  visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
-
-  // planning context
-  // ========================================================================================
-  planning_interface::PlanningContextPtr context =
-      planner_instance->getPlanningContext(planning_scene, req, res.error_code_);
-
-  context->solve(res);
-  if (res.error_code_.val != res.error_code_.SUCCESS)
-  {
-    ROS_ERROR("Could not compute plan successfully");
-    return 0;
-  }
-
-  visual_tools.prompt("Press 'next' to visualize the result");
-
-  // Visualize the result
-  // ========================================================================================
-  ros::Publisher display_publisher =
-      node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
-  moveit_msgs::DisplayTrajectory display_trajectory;
-
-  /* Visualize the trajectory */
-  moveit_msgs::MotionPlanResponse response;
-  res.getMessage(response);
-
-  for (int timestep_index = 0; timestep_index < response.trajectory.joint_trajectory.points.size(); ++timestep_index)
-  {
-    for (int joint_index = 0;
-         joint_index < response.trajectory.joint_trajectory.points[timestep_index].positions.size(); ++joint_index)
-    {
-      std::cout << response.trajectory.joint_trajectory.points[timestep_index].positions[joint_index] << "  ";
-    }
-    std::cout << std::endl;
-  }
-
-  display_trajectory.trajectory_start = response.trajectory_start;
-  display_trajectory.trajectory.push_back(response.trajectory);
-
-  visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group);
-  visual_tools.trigger();
-  display_publisher.publish(display_trajectory);
-
-  const std::vector<std::string>& str = joint_model_group->getLinkModelNames();
-  ROS_INFO("end effector name %s\n", str.back().c_str());
-
-  const Eigen::Affine3d& end_effector_transform_current = current_state->getGlobalLinkTransform(str.back());
-  geometry_msgs::PoseStamped pose_msg;
-  pose_msg.header.stamp = ros::Time::now();
-  pose_msg.header.frame_id = robot_model->getModelFrame();
-  pose_msg.pose = tf2::toMsg(end_effector_transform_current);
-
-  visual_tools.publishAxisLabeled(pose_msg.pose, "current");
-  visual_tools.publishText(text_pose, "current pose", rvt::WHITE, rvt::XLARGE);
-
-  const Eigen::Affine3d& end_effector_transform_start = start_state->getGlobalLinkTransform(str.back());
-  pose_msg.header.stamp = ros::Time::now();
-  pose_msg.header.frame_id = robot_model->getModelFrame();
-  pose_msg.pose = tf2::toMsg(end_effector_transform_start);
-
-  visual_tools.publishAxisLabeled(pose_msg.pose, "start");
-  visual_tools.publishText(text_pose, "start pose", rvt::BLUE, rvt::XLARGE);
-
-  const Eigen::Affine3d& end_effector_transform_middle = middle_state->getGlobalLinkTransform(str.back());
-  pose_msg.header.stamp = ros::Time::now();
-  pose_msg.header.frame_id = robot_model->getModelFrame();
-  pose_msg.pose = tf2::toMsg(end_effector_transform_middle);
-
-  visual_tools.publishAxisLabeled(pose_msg.pose, "middle");
-  visual_tools.publishText(text_pose, "middle pose", rvt::RED, rvt::XLARGE);
-
-  const Eigen::Affine3d& end_effector_transform_goal = goal_state->getGlobalLinkTransform(str.back());
-  pose_msg.header.stamp = ros::Time::now();
-  pose_msg.header.frame_id = robot_model->getModelFrame();
-  pose_msg.pose = tf2::toMsg(end_effector_transform_goal);
-
-  visual_tools.publishAxisLabeled(pose_msg.pose, "goal");
-  visual_tools.publishText(text_pose, "goal pose", rvt::WHITE, rvt::XLARGE);
-  visual_tools.trigger();
-
-  visual_tools.prompt("Press 'next' to finish demo \n");
-}

From 8fda2b88de6dd7743a95305702696fc4dc3951ab Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 8 Aug 2019 18:04:29 -0600
Subject: [PATCH 74/96] clang format

---
 .../trajopt/include/trajopt_interface/kinematic_terms.h      | 1 -
 .../trajopt/include/trajopt_interface/problem_description.h  | 5 ++---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 9a9a8a5d38..5c60137b8e 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -6,7 +6,6 @@
 
 namespace trajopt_interface
 {
-
 /**
  * @brief Extracts the vector part of quaternion
  */
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index 982862bea6..6c1fb3b4b9 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -168,7 +168,8 @@ struct ProblemInfo
   planning_scene::PlanningSceneConstPtr planning_scene;
   std::string planning_group_name;
 
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg) : planning_scene(ps), planning_group_name(pg)
+  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
+    : planning_scene(ps), planning_group_name(pg)
   {
   }
 };
@@ -360,8 +361,6 @@ struct JointVelTermInfo : public TermInfo
   }
 };
 
-
-
 void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
                                trajopt::TrajArray& init_traj);
 

From a1ff679ebaa6c9a19a2cdc428a2a79111bf2a538 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Wed, 7 Aug 2019 09:01:56 -0600
Subject: [PATCH 75/96] Added comments about initial trajectory changed my
 email address renamed rotVec and concat added tesseract license

---
 .../trajopt/include/trajopt_interface/kinematic_terms.h     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 5c60137b8e..2796d0dffa 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -9,7 +9,7 @@ namespace trajopt_interface
 /**
  * @brief Extracts the vector part of quaternion
  */
-inline Eigen::Vector3d rotVec(const Eigen::Matrix3d& m)
+inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& m)
 {
   Eigen::Quaterniond q;
   q = m;
@@ -19,7 +19,7 @@ inline Eigen::Vector3d rotVec(const Eigen::Matrix3d& m)
 /**
  * @brief Appends b to a of type VectorXd
  */
-inline Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
+inline Eigen::VectorXd concatVector(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
 {
   Eigen::VectorXd out(a.size() + b.size());
   out.topRows(a.size()) = a;
@@ -31,7 +31,7 @@ inline Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b
  * @brief Appends b to a of type T
  */
 template <typename T>
-std::vector<T> concat(const std::vector<T>& a, const std::vector<T>& b)
+std::vector<T> concatVector(const std::vector<T>& a, const std::vector<T>& b)
 {
   std::vector<T> out;
   std::vector<int> x(a.size() + b.size());

From a8e22c4372f37aec58b99f55163735b238ca49cc Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 12 Aug 2019 09:45:00 -0600
Subject: [PATCH 76/96] applied Henning's comments

---
 .../trajopt/include/trajopt_interface/problem_description.h     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index 6c1fb3b4b9..60b1d6e356 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -112,7 +112,7 @@ struct InitInfo
   /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
       to create initialization matrix. We need to give the goal information to this init info
    */
-  trajopt::TrajArray data;  // This data type does not seem correct, it should be of type VectorXd
+  trajopt::TrajArray data;
   //  Eigen::VectorXd data_vec;
   //  trajopt::TrajArray data_trajectory;
   /** @brief Default value the final column of the optimization is initialized too if time is being used */

From 6c29b6dda558072a9f3d70240e07f0eff009ee92 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Mon, 12 Aug 2019 13:33:07 -0600
Subject: [PATCH 77/96] added catkin ignore to ignore this package for now as
 it has dependencies. The next PR wont have any dependencies

---
 .gitignore | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/.gitignore b/.gitignore
index 917f3b56be..808fe85341 100644
--- a/.gitignore
+++ b/.gitignore
@@ -58,10 +58,3 @@ qtcreator-*
 
 #gdb
 *.gdb
-<<<<<<< HEAD
-<<<<<<< HEAD
-=======
-/moveit_planners/trajopt/launch/gdb_settings.gdb
->>>>>>> addressed the comments
-=======
->>>>>>> added kinematic DOF of the active joint model group to TrajOptProblem class

From 9440d394df52f50798c9b2d07efcb10664dbcb54 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Tue, 13 Aug 2019 12:23:27 -0600
Subject: [PATCH 78/96] addressed the comments

---
 .../trajopt_interface/kinematic_terms.h       | 23 +++++++++----------
 .../trajopt_interface/trajopt_interface.h     | 12 ++++------
 .../trajopt_planning_context.h                |  9 +++-----
 3 files changed, 19 insertions(+), 25 deletions(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
index 2796d0dffa..96274cf9c7 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
@@ -9,21 +9,21 @@ namespace trajopt_interface
 /**
  * @brief Extracts the vector part of quaternion
  */
-inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& m)
+inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
 {
-  Eigen::Quaterniond q;
-  q = m;
-  return Eigen::Vector3d(q.x(), q.y(), q.z());
+  Eigen::Quaterniond quaternion;
+  quaternion = matrix;
+  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
 }
 
 /**
  * @brief Appends b to a of type VectorXd
  */
-inline Eigen::VectorXd concatVector(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
+inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
 {
-  Eigen::VectorXd out(a.size() + b.size());
-  out.topRows(a.size()) = a;
-  out.middleRows(a.size(), b.size()) = b;
+  Eigen::VectorXd out(vector_a.size() + vector_b.size());
+  out.topRows(vector_a.size()) = vector_a;
+  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
   return out;
 }
 
@@ -31,12 +31,11 @@ inline Eigen::VectorXd concatVector(const Eigen::VectorXd& a, const Eigen::Vecto
  * @brief Appends b to a of type T
  */
 template <typename T>
-std::vector<T> concatVector(const std::vector<T>& a, const std::vector<T>& b)
+inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
 {
   std::vector<T> out;
-  std::vector<int> x(a.size() + b.size());
-  out.insert(out.end(), a.begin(), a.end());
-  out.insert(out.end(), b.begin(), b.end());
+  out.insert(out.end(), vector_a.begin(), vector_a.end());
+  out.insert(out.end(), vector_b.begin(), vector_b.end());
   return out;
 }
 
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
index b84acd976c..74432fa83c 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
@@ -33,9 +33,7 @@
  *********************************************************************/
 
 /* Author: Omid Heidari */
-
-#ifndef TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
-#define TRAJOPT_INTERFACE_TRAJOPT_INTERFACE_H
+#pragma once
 
 #include <ros/ros.h>
 #include <trajopt_sco/sco_common.hpp>
@@ -65,15 +63,15 @@ class TrajOptInterface
   void setDefaultTrajOPtParams();
   void setProblemInfoParam(ProblemInfo& problem_info);
   void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
+  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
+                                          const std::vector<std::string>& group_joint_names);
 
   ros::NodeHandle nh_;  /// The ROS node handle
   sco::BasicTrustRegionSQPParameters params_;
-  std::vector<sco::Optimizer::Callback> callbacks_;
-  TrajOptProblemPtr prob_;
+  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
+  TrajOptProblemPtr trajopt_problem_;
   std::string name_;
 };
 
 void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
 }
-
-#endif
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
index 8aaa209b24..12676f57e7 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
@@ -1,10 +1,9 @@
-#ifndef TrajOpt_PLANNING_CONTEXT_H
-#define TrajOpt_PLANNING_CONTEXT_H
+#pragma once
 
 #include <moveit/planning_interface/planning_interface.h>
 
-#include "trajopt_interface/problem_description.h"
-#include "trajopt_interface/trajopt_interface.h"
+#include <trajopt_interface/problem_description.h>
+#include <trajopt_interface/trajopt_interface.h>
 
 namespace trajopt_interface
 {
@@ -31,5 +30,3 @@ class TrajOptPlanningContext : public planning_interface::PlanningContext
   TrajOptInterfacePtr trajopt_interface_;
 };
 }  // namespace trajopt_interface
-
-#endif  // TrajOpt_PLANNING_CONTEXT_H

From c6889aad8c41ebd714e375c86e33bb9610c475ec Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Tue, 13 Aug 2019 14:36:49 -0600
Subject: [PATCH 79/96] renamed hatch to addObjectiveTerms

---
 .../include/trajopt_interface/problem_description.h    | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
index 60b1d6e356..825c82262d 100644
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
+++ b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h
@@ -122,7 +122,7 @@ struct InitInfo
 /**
 When cost or constraint element of JSON doc is read, one of these guys gets
 constructed to hold the parameters.
-Then it later gets converted to a Cost object by the hatch method
+Then it later gets converted to a Cost object by the addObjectiveTerms method
 */
 struct TermInfo
 {
@@ -133,7 +133,7 @@ struct TermInfo
     return supported_term_types_;
   }
   //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void hatch(TrajOptProblem& prob) = 0;
+  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
 
   static TermInfoPtr fromName(const std::string& type);
 
@@ -282,7 +282,7 @@ struct CartPoseTermInfo : public TermInfo
   /** @brief Used to add term to pci from json */
   //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -322,7 +322,7 @@ struct JointPoseTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {
@@ -352,7 +352,7 @@ struct JointVelTermInfo : public TermInfo
   }
 
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProblem& prob) override;
+  void addObjectiveTerms(TrajOptProblem& prob) override;
 
   static TermInfoPtr create()
   {

From a7725390ddfa59f04353e7846ec05e7b036818fc Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 15 Aug 2019 10:00:37 -0600
Subject: [PATCH 80/96] addressed Dave's comments

---
 moveit_planners/trajopt/CATKIN_IGNORE | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 moveit_planners/trajopt/CATKIN_IGNORE

diff --git a/moveit_planners/trajopt/CATKIN_IGNORE b/moveit_planners/trajopt/CATKIN_IGNORE
deleted file mode 100644
index e69de29bb2..0000000000

From bb89f602cb4e45310c88a280382923b95983cacc Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 15 Aug 2019 10:34:31 -0600
Subject: [PATCH 81/96] added catkin_ignore

---
 moveit_planners/trajopt/CATKIN_IGNORE | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 moveit_planners/trajopt/CATKIN_IGNORE

diff --git a/moveit_planners/trajopt/CATKIN_IGNORE b/moveit_planners/trajopt/CATKIN_IGNORE
new file mode 100644
index 0000000000..e69de29bb2

From 4df846aa3f33bcc2c3cd1db494ef59aa3697ff1b Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 15 Aug 2019 16:44:31 -0600
Subject: [PATCH 82/96] prepare for merge

---
 moveit_planners/trajopt/CATKIN_IGNORE                             | 0
 .../include/trajopt}/kinematic_terms.h                            | 0
 .../include/trajopt}/problem_description.h                        | 0
 moveit_planners/trajopt/{ => trajopt}/src/kinematic_terms.cpp     | 0
 moveit_planners/trajopt/{ => trajopt}/src/problem_description.cpp | 0
 moveit_planners/trajopt/{ => trajopt_interface}/CMakeLists.txt    | 0
 moveit_planners/trajopt/{ => trajopt_interface}/README.md         | 0
 .../include/trajopt_interface/trajopt_interface.h                 | 0
 .../include/trajopt_interface/trajopt_planning_context.h          | 0
 moveit_planners/trajopt/{ => trajopt_interface}/package.xml       | 0
 .../trajopt/{ => trajopt_interface}/src/trajopt_interface.cpp     | 0
 .../{ => trajopt_interface}/src/trajopt_planner_manager.cpp       | 0
 .../{ => trajopt_interface}/src/trajopt_planning_context.cpp      | 0
 .../trajopt/{ => trajopt_interface}/test/trajectory_test.cpp      | 0
 .../trajopt/{ => trajopt_interface}/test/trajectory_test.test     | 0
 .../trajopt_interface_plugin_description.xml                      | 0
 16 files changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 moveit_planners/trajopt/CATKIN_IGNORE
 rename moveit_planners/trajopt/{include/trajopt_interface => trajopt/include/trajopt}/kinematic_terms.h (100%)
 rename moveit_planners/trajopt/{include/trajopt_interface => trajopt/include/trajopt}/problem_description.h (100%)
 rename moveit_planners/trajopt/{ => trajopt}/src/kinematic_terms.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt}/src/problem_description.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/CMakeLists.txt (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/README.md (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/include/trajopt_interface/trajopt_interface.h (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/include/trajopt_interface/trajopt_planning_context.h (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/package.xml (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/src/trajopt_interface.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/src/trajopt_planner_manager.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/src/trajopt_planning_context.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/test/trajectory_test.cpp (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/test/trajectory_test.test (100%)
 rename moveit_planners/trajopt/{ => trajopt_interface}/trajopt_interface_plugin_description.xml (100%)

diff --git a/moveit_planners/trajopt/CATKIN_IGNORE b/moveit_planners/trajopt/CATKIN_IGNORE
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
similarity index 100%
rename from moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h
rename to moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
similarity index 100%
rename from moveit_planners/trajopt/include/trajopt_interface/problem_description.h
rename to moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
diff --git a/moveit_planners/trajopt/src/kinematic_terms.cpp b/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/kinematic_terms.cpp
rename to moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
diff --git a/moveit_planners/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/problem_description.cpp
rename to moveit_planners/trajopt/trajopt/src/problem_description.cpp
diff --git a/moveit_planners/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
similarity index 100%
rename from moveit_planners/trajopt/CMakeLists.txt
rename to moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
diff --git a/moveit_planners/trajopt/README.md b/moveit_planners/trajopt/trajopt_interface/README.md
similarity index 100%
rename from moveit_planners/trajopt/README.md
rename to moveit_planners/trajopt/trajopt_interface/README.md
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
similarity index 100%
rename from moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
rename to moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
similarity index 100%
rename from moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h
rename to moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
diff --git a/moveit_planners/trajopt/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
similarity index 100%
rename from moveit_planners/trajopt/package.xml
rename to moveit_planners/trajopt/trajopt_interface/package.xml
diff --git a/moveit_planners/trajopt/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/trajopt_interface.cpp
rename to moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
diff --git a/moveit_planners/trajopt/src/trajopt_planner_manager.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/trajopt_planner_manager.cpp
rename to moveit_planners/trajopt/trajopt_interface/src/trajopt_planner_manager.cpp
diff --git a/moveit_planners/trajopt/src/trajopt_planning_context.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
similarity index 100%
rename from moveit_planners/trajopt/src/trajopt_planning_context.cpp
rename to moveit_planners/trajopt/trajopt_interface/src/trajopt_planning_context.cpp
diff --git a/moveit_planners/trajopt/test/trajectory_test.cpp b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
similarity index 100%
rename from moveit_planners/trajopt/test/trajectory_test.cpp
rename to moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
diff --git a/moveit_planners/trajopt/test/trajectory_test.test b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
similarity index 100%
rename from moveit_planners/trajopt/test/trajectory_test.test
rename to moveit_planners/trajopt/trajopt_interface/test/trajectory_test.test
diff --git a/moveit_planners/trajopt/trajopt_interface_plugin_description.xml b/moveit_planners/trajopt/trajopt_interface/trajopt_interface_plugin_description.xml
similarity index 100%
rename from moveit_planners/trajopt/trajopt_interface_plugin_description.xml
rename to moveit_planners/trajopt/trajopt_interface/trajopt_interface_plugin_description.xml

From 010434a63f8ccc4e7ea0cc1e164bc814a43ee0e6 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Thu, 15 Aug 2019 17:52:42 -0600
Subject: [PATCH 83/96] resolved conflicts

---
 .../trajopt_interface/kinematic_terms.h~HEAD  |  93 --
 .../problem_description.h~HEAD                | 367 -------
 .../trajopt_interface.h~HEAD                  |  77 --
 .../trajopt_planning_context.h~HEAD           |  32 -
 .../trajopt/trajopt/CMakeLists.txt            |  70 ++
 moveit_planners/trajopt/trajopt/LICENSE       |  11 +
 .../trajopt/trajopt/include/trajopt/cache.hxx |  26 +
 .../trajopt/include/trajopt/common.hpp        |   3 +
 .../trajopt/include/trajopt/kinematic_terms.h |   4 +-
 .../include/trajopt/problem_description.h     |   8 +-
 .../include/trajopt/trajectory_costs.hpp      | 533 ++++++++++
 .../trajopt/include/trajopt/typedefs.hpp      |  77 ++
 .../trajopt/trajopt/include/trajopt/utils.hpp | 153 +++
 moveit_planners/trajopt/trajopt/package.xml   |  28 +
 .../trajopt/trajopt/src/kinematic_terms.cpp   |   6 +-
 .../trajopt/src/problem_description.cpp       |   9 +-
 .../trajopt/trajopt/src/trajectory_costs.cpp  | 955 ++++++++++++++++++
 moveit_planners/trajopt/trajopt/src/utils.cpp |  90 ++
 .../trajopt/trajopt_interface/CMakeLists.txt  |  37 +-
 .../trajopt/trajopt_interface/README.md       |   2 +-
 .../trajopt_interface/trajopt_interface.h     |  12 +-
 .../trajopt_planning_context.h                |   2 +-
 .../trajopt/trajopt_interface/package.xml     |   1 +
 .../src/trajopt_interface.cpp                 |  59 +-
 .../trajopt_sco/3rdpartylib/bpmpd_linux32.a   | Bin 0 -> 532260 bytes
 .../trajopt_sco/3rdpartylib/bpmpd_linux64.a   | Bin 0 -> 740972 bytes
 .../trajopt/trajopt_sco/CMakeLists.txt        | 138 +++
 moveit_planners/trajopt/trajopt_sco/LICENSE   |  11 +
 .../cmake/Modules/FindGUROBI.cmake            |  43 +
 .../cmake/Modules/FindqpOASES.cmake           |  51 +
 .../include/trajopt_sco/bpmpd_interface.hpp   |  40 +
 .../include/trajopt_sco/bpmpd_io.hpp          | 168 +++
 .../include/trajopt_sco/expr_op_overloads.hpp |  40 +
 .../include/trajopt_sco/expr_ops.hpp          | 163 +++
 .../include/trajopt_sco/expr_vec_ops.hpp      |  30 +
 .../include/trajopt_sco/gurobi_interface.hpp  |  53 +
 .../include/trajopt_sco/modeling.hpp          | 239 +++++
 .../include/trajopt_sco/modeling_utils.hpp    | 108 ++
 .../include/trajopt_sco/num_diff.hpp          |  72 ++
 .../include/trajopt_sco/optimizers.hpp        | 128 +++
 .../include/trajopt_sco/osqp_interface.hpp    |  84 ++
 .../include/trajopt_sco/qpoases_interface.hpp |  95 ++
 .../include/trajopt_sco/sco_common.hpp        |  52 +
 .../include/trajopt_sco/sco_fwd.hpp           |  48 +
 .../include/trajopt_sco/solver_interface.hpp  | 206 ++++
 .../include/trajopt_sco/solver_utils.hpp      | 154 +++
 .../trajopt/trajopt_sco/package.xml           |  17 +
 .../trajopt/trajopt_sco/src/bpmpd.par         | 189 ++++
 .../trajopt/trajopt_sco/src/bpmpd_caller.cpp  | 102 ++
 .../trajopt_sco/src/bpmpd_interface.cpp       | 521 ++++++++++
 .../trajopt/trajopt_sco/src/expr_ops.cpp      | 103 ++
 .../trajopt/trajopt_sco/src/expr_vec_ops.cpp  |  12 +
 .../trajopt_sco/src/gurobi_interface.cpp      | 306 ++++++
 .../trajopt/trajopt_sco/src/modeling.cpp      | 266 +++++
 .../trajopt_sco/src/modeling_utils.cpp        | 266 +++++
 .../trajopt/trajopt_sco/src/num_diff.cpp      | 118 +++
 .../trajopt/trajopt_sco/src/optimizers.cpp    | 491 +++++++++
 .../trajopt_sco/src/osqp_interface.cpp        | 270 +++++
 .../trajopt_sco/src/qpoases_interface.cpp     | 251 +++++
 .../trajopt_sco/src/solver_interface.cpp      | 305 ++++++
 .../trajopt/trajopt_sco/src/solver_utils.cpp  | 134 +++
 .../trajopt_sco/test/small-problems-unit.cpp  | 175 ++++
 .../test/solver-interface-unit.cpp            | 244 +++++
 .../trajopt_sco/test/solver-utils-unit.cpp    | 261 +++++
 .../trajopt/trajopt_sco/test/unit.cpp         |  10 +
 .../trajopt/trajopt_utils/CMakeLists.txt      |  49 +
 moveit_planners/trajopt/trajopt_utils/LICENSE |  11 +
 .../include/trajopt_utils/basic_array.hpp     | 102 ++
 .../include/trajopt_utils/clock.hpp           |   7 +
 .../include/trajopt_utils/config.hpp          |  63 ++
 .../trajopt_utils/eigen_conversions.hpp       |  18 +
 .../include/trajopt_utils/eigen_slicing.hpp   |  27 +
 .../include/trajopt_utils/interpolation.hpp   |  48 +
 .../include/trajopt_utils/logging.hpp         |  71 ++
 .../include/trajopt_utils/macros.h            |  71 ++
 .../include/trajopt_utils/math.hpp            |  10 +
 .../include/trajopt_utils/stl_to_string.hpp   |  73 ++
 .../include/trajopt_utils/vector_ops.hpp      |  17 +
 .../trajopt/trajopt_utils/package.xml         |  16 +
 .../trajopt/trajopt_utils/src/clock.cpp       |  40 +
 .../trajopt/trajopt_utils/src/config.cpp      |  27 +
 .../trajopt/trajopt_utils/src/logging.cpp     |  54 +
 .../trajopt_utils/src/stl_to_string.cpp       |  24 +
 .../trajopt_utils/src/test_logging.cpp        |  12 +
 84 files changed, 8708 insertions(+), 651 deletions(-)
 delete mode 100644 moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
 delete mode 100644 moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
 delete mode 100644 moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
 delete mode 100644 moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
 create mode 100644 moveit_planners/trajopt/trajopt/CMakeLists.txt
 create mode 100644 moveit_planners/trajopt/trajopt/LICENSE
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/common.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
 create mode 100644 moveit_planners/trajopt/trajopt/package.xml
 create mode 100644 moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
 create mode 100644 moveit_planners/trajopt/trajopt/src/utils.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a
 create mode 100644 moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux64.a
 create mode 100644 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
 create mode 100644 moveit_planners/trajopt/trajopt_sco/LICENSE
 create mode 100644 moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindGUROBI.cmake
 create mode 100644 moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindqpOASES.cmake
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_vec_ops.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/gurobi_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/qpoases_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_fwd.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/package.xml
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/bpmpd.par
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/test/solver-utils-unit.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_sco/test/unit.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
 create mode 100644 moveit_planners/trajopt/trajopt_utils/LICENSE
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/clock.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_conversions.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_slicing.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/interpolation.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/macros.h
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/stl_to_string.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/package.xml
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/clock.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/config.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/logging.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
 create mode 100644 moveit_planners/trajopt/trajopt_utils/src/test_logging.cpp

diff --git a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD b/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
deleted file mode 100644
index 96274cf9c7..0000000000
--- a/moveit_planners/trajopt/include/trajopt_interface/kinematic_terms.h~HEAD
+++ /dev/null
@@ -1,93 +0,0 @@
-#pragma once
-
-#include <moveit/planning_scene/planning_scene.h>
-
-#include <Eigen/Geometry>
-
-namespace trajopt_interface
-{
-/**
- * @brief Extracts the vector part of quaternion
- */
-inline Eigen::Vector3d quaternionRotationVector(const Eigen::Matrix3d& matrix)
-{
-  Eigen::Quaterniond quaternion;
-  quaternion = matrix;
-  return Eigen::Vector3d(quaternion.x(), quaternion.y(), quaternion.z());
-}
-
-/**
- * @brief Appends b to a of type VectorXd
- */
-inline Eigen::VectorXd concatVector(const Eigen::VectorXd& vector_a, const Eigen::VectorXd& vector_b)
-{
-  Eigen::VectorXd out(vector_a.size() + vector_b.size());
-  out.topRows(vector_a.size()) = vector_a;
-  out.middleRows(vector_a.size(), vector_b.size()) = vector_b;
-  return out;
-}
-
-/**
- * @brief Appends b to a of type T
- */
-template <typename T>
-inline std::vector<T> concatVector(const std::vector<T>& vector_a, const std::vector<T>& vector_b)
-{
-  std::vector<T> out;
-  out.insert(out.end(), vector_a.begin(), vector_a.end());
-  out.insert(out.end(), vector_b.begin(), vector_b.end());
-  return out;
-}
-
-/**
- * @brief Used to calculate the error for StaticCartPoseTermInfo
- * This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc
- */
-struct CartPoseErrCalculator : public sco::VectorOfVector
-{
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-  Eigen::Isometry3d target_pose_inv_;
-  planning_scene::PlanningSceneConstPtr planning_scene_;
-  std::string link_;
-  Eigen::Isometry3d tcp_;
-
-  CartPoseErrCalculator(const Eigen::Isometry3d& pose, const planning_scene::PlanningSceneConstPtr planning_scene,
-                        const std::string& link, Eigen::Isometry3d tcp = Eigen::Isometry3d::Identity())
-    : target_pose_inv_(pose.inverse()), planning_scene_(planning_scene), link_(link), tcp_(tcp)
-  {
-  }
-
-  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
-};
-
-// TODO(omid): The following should be added and adjusted from trajopt
-// JointPosEqCost
-// JointPosIneqCost
-// JointPosEqConstraint
-// JointPosIneqConstraint
-
-struct JointVelErrCalculator : sco::VectorOfVector
-{
-  /** @brief Velocity target */
-  double target_;
-  /** @brief Upper tolerance */
-  double upper_tol_;
-  /** @brief Lower tolerance */
-  double lower_tol_;
-  JointVelErrCalculator() : target_(0.0), upper_tol_(0.0), lower_tol_(0.0)
-  {
-  }
-  JointVelErrCalculator(double target, double upper_tol, double lower_tol)
-    : target_(target), upper_tol_(upper_tol), lower_tol_(lower_tol)
-  {
-  }
-
-  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const;
-};
-
-struct JointVelJacobianCalculator : sco::MatrixOfVector
-{
-  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
-};
-
-}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD b/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
deleted file mode 100644
index 825c82262d..0000000000
--- a/moveit_planners/trajopt/include/trajopt_interface/problem_description.h~HEAD
+++ /dev/null
@@ -1,367 +0,0 @@
-#pragma once
-#include <trajopt/common.hpp>
-#include <trajopt/json_marshal.hpp>
-#include <trajopt_sco/optimizers.hpp>
-
-#include <moveit/robot_model/robot_model.h>
-#include <moveit/planning_scene/planning_scene.h>
-
-#include <memory>
-
-namespace trajopt_interface
-{
-/**
-@brief Used to apply cost/constraint to joint-space velocity
-
-Term is applied to every step between first_step and last_step. It applies two limits, upper_limits/lower_limits,
-to the joint velocity subject to the following cases.
-
-* term_type = TT_COST
-** upper_limit = lower_limit = 0 - Cost is applied with a SQUARED error scaled for each joint by coeffs
-** upper_limit != lower_limit - 2 hinge costs are applied scaled for each joint by coeffs. If velocity < upper_limit and
-velocity > lower_limit, no penalty.
-
-* term_type = TT_CNT
-** upper_limit = lower_limit = 0 - Equality constraint is applied
-** upper_limit != lower_limit - 2 Inequality constraints are applied. These are both satisfied when velocity <
-upper_limit and velocity > lower_limit
-
-Note: coeffs, upper_limits, and lower_limits are optional. If a term is not given it will default to 0 for all joints.
-If one value is given, this will be broadcast to all joints.
-
-Note: Velocity is calculated numerically using forward finite difference
-
-\f{align*}{
-  cost = \sum_{t=0}^{T-2} \sum_j c_j (x_{t+1,j} - x_{t,j})^2
-\f}
-where j indexes over DOF, and \f$c_j\f$ are the coeffs.
-*/
-
-struct TermInfo;
-MOVEIT_CLASS_FORWARD(TermInfo);
-
-class TrajOptProblem;
-MOVEIT_CLASS_FORWARD(TrajOptProblem);
-
-struct JointPoseTermInfo;
-MOVEIT_CLASS_FORWARD(JointPoseTermInfo);
-
-struct CartPoseTermInfo;
-MOVEIT_CLASS_FORWARD(CartPoseTermInfo);
-
-struct JointVelTermInfo;
-MOVEIT_CLASS_FORWARD(JointVelTermInfo);
-
-struct ProblemInfo;
-TrajOptProblemPtr ConstructProblem(const ProblemInfo&);
-
-enum TermType
-{
-  TT_COST = 0x1,      // 0000 0001
-  TT_CNT = 0x2,       // 0000 0010
-  TT_USE_TIME = 0x4,  // 0000 0100
-};
-
-struct BasicInfo
-{
-  /** @brief If true, first time step is fixed with a joint level constraint
-      If this is false, the starting point of the trajectory will
-      not be the current position of the robot. The use case example is: if we are trying to execute a process like
-      sanding the critical part which is the actual process path not how we get to the start of the process path. So we
-     plan the
-      process path first leaving the start free to hopefully get the most optimal and then we plan from the current
-     location with
-      start fixed to the start of the process path. It depends on what we want the default behavior to be
-   */
-  bool start_fixed;
-  /** @brief Number of time steps (rows) in the optimization matrix */
-  int n_steps;
-  sco::IntVec dofs_fixed;        // optional
-  sco::ModelType convex_solver;  // which convex solver to use
-
-  /** @brief If true, the last column in the optimization matrix will be 1/dt */
-  bool use_time = false;
-  /** @brief The upper limit of 1/dt values allowed in the optimization*/
-  double dt_upper_lim = 1.0;
-  /** @brief The lower limit of 1/dt values allowed in the optimization*/
-  double dt_lower_lim = 1.0;
-};
-
-/**
-Initialization info read from json
-*/
-struct InitInfo
-{
-  /** @brief Methods of initializing the optimization matrix. This defines how robot moves from the current
-      state to the start state
-
-    STATIONARY: Initializes all joint values to the initial value (the current value in the env)
-    JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data
-    GIVEN_TRAJ: Initializes the matrix to a given trajectory
-
-    In all cases the dt column (if present) is appended the selected method is defined.
- */
-  enum Type
-  {
-    STATIONARY,
-    JOINT_INTERPOLATED,
-    GIVEN_TRAJ,
-  };
-  /** @brief Specifies the type of initialization to use */
-  Type type;
-  /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
-      to create initialization matrix. We need to give the goal information to this init info
-   */
-  trajopt::TrajArray data;
-  //  Eigen::VectorXd data_vec;
-  //  trajopt::TrajArray data_trajectory;
-  /** @brief Default value the final column of the optimization is initialized too if time is being used */
-  double dt = 1.0;
-};
-
-/**
-When cost or constraint element of JSON doc is read, one of these guys gets
-constructed to hold the parameters.
-Then it later gets converted to a Cost object by the addObjectiveTerms method
-*/
-struct TermInfo
-{
-  std::string name;
-  int term_type;
-  int getSupportedTypes()
-  {
-    return supported_term_types_;
-  }
-  //  virtual void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) = 0;
-  virtual void addObjectiveTerms(TrajOptProblem& prob) = 0;
-
-  static TermInfoPtr fromName(const std::string& type);
-
-  /**
-   * Registers a user-defined TermInfo so you can use your own cost
-   * see function RegisterMakers.cpp
-   */
-  using MakerFunc = TermInfoPtr (*)(void);
-  static void RegisterMaker(const std::string& type, MakerFunc);
-
-  virtual ~TermInfo() = default;
-
-protected:
-  TermInfo(int supported_term_types) : supported_term_types_(supported_term_types)
-  {
-  }
-
-private:
-  static std::map<std::string, MakerFunc> name_to_maker_;
-  int supported_term_types_;
-};
-
-struct ProblemInfo
-{
-public:
-  BasicInfo basic_info;
-  sco::BasicTrustRegionSQPParameters opt_info;
-  std::vector<TermInfoPtr> cost_infos;
-  std::vector<TermInfoPtr> cnt_infos;
-  InitInfo init_info;
-
-  planning_scene::PlanningSceneConstPtr planning_scene;
-  std::string planning_group_name;
-
-  ProblemInfo(planning_scene::PlanningSceneConstPtr ps, const std::string& pg)
-    : planning_scene(ps), planning_group_name(pg)
-  {
-  }
-};
-
-/**
- * Holds all the data for a trajectory optimization problem
- * so you can modify it programmatically, e.g. add your own costs
- */
-class TrajOptProblem : public sco::OptProb
-{
-public:
-  TrajOptProblem();
-  TrajOptProblem(const ProblemInfo& problem_info);
-  virtual ~TrajOptProblem() = default;
-  /** @brief Returns the values of the specified joints (start_col to num_col) for the specified timestep i.*/
-  sco::VarVector GetVarRow(int i, int start_col, int num_col)
-  {
-    return matrix_traj_vars.rblock(i, start_col, num_col);
-  }
-  /** @brief Returns the values of all joints for the specified timestep i.*/
-  sco::VarVector GetVarRow(int i)
-  {
-    return matrix_traj_vars.row(i);
-  }
-  /** @brief Returns the value of the specified joint j for the specified timestep i.*/
-  sco::Var& GetVar(int i, int j)
-  {
-    return matrix_traj_vars.at(i, j);
-  }
-  trajopt::VarArray& GetVars()
-  {
-    return matrix_traj_vars;
-  }
-  /** @brief Returns the number of steps in the problem. This is the number of rows in the optimization matrix.*/
-  int GetNumSteps()
-  {
-    return matrix_traj_vars.rows();
-  }
-  /** @brief Returns the problem DOF. This is the number of columns in the optization matrix.
-   * Note that this is not necessarily the same as the kinematic DOF.*/
-  int GetNumDOF()
-  {
-    return matrix_traj_vars.cols();
-  }
-  /** @brief Returns the kinematic DOF of the active joint model group
-   */
-  int GetActiveGroupNumDOF()
-  {
-    return dof_;
-  }
-  planning_scene::PlanningSceneConstPtr GetPlanningScene()
-  {
-    return planning_scene_;
-  }
-  void SetInitTraj(const trajopt::TrajArray& x)
-  {
-    matrix_init_traj = x;
-  }
-  trajopt::TrajArray GetInitTraj()
-  {
-    return matrix_init_traj;
-  }
-  //  friend TrajOptProbPtr ConstructProblem(const ProblemConstructionInfo&);
-  /** @brief Returns TrajOptProb.has_time */
-  bool GetHasTime()
-  {
-    return has_time;
-  }
-  /** @brief Sets TrajOptProb.has_time  */
-  void SetHasTime(bool tmp)
-  {
-    has_time = tmp;
-  }
-
-private:
-  /** @brief If true, the last column in the optimization matrix will be 1/dt */
-  bool has_time;
-  /** @brief is the matrix holding the joint values of the trajectory for all timesteps */
-  trajopt::VarArray matrix_traj_vars;
-  planning_scene::PlanningSceneConstPtr planning_scene_;
-  std::string planning_group_;
-  /** @brief Kinematic DOF of the active joint model group  */
-  int dof_;
-  trajopt::TrajArray matrix_init_traj;
-};
-
-/** @brief This term is used when the goal frame is fixed in cartesian space
-
-  Set term_type == TT_COST or TT_CNT for cost or constraint.
-*/
-struct CartPoseTermInfo : public TermInfo
-{
-  //  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-  /** @brief Timestep at which to apply term */
-  int timestep;
-  /** @brief  Cartesian position */
-  Eigen::Vector3d xyz;
-  /** @brief Rotation quaternion */
-  Eigen::Vector4d wxyz;
-  /** @brief coefficients for position and rotation */
-  Eigen::Vector3d pos_coeffs, rot_coeffs;
-  /** @brief Link which should reach desired pose */
-  std::string link;
-  /** @brief Static transform applied to the link */
-  Eigen::Isometry3d tcp;
-
-  CartPoseTermInfo();
-
-  /** @brief Used to add term to pci from json */
-  //  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
-  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
-
-  static TermInfoPtr create()
-  {
-    TermInfoPtr out(new CartPoseTermInfo());
-    return out;
-  }
-};
-
-/**
-  \brief Joint space position cost
-    Position operates on a single point (unlike velocity, etc). This is b/c the primary usecase is joint-space
-    position waypoints
-
-  \f{align*}{
-  \sum_i c_i (x_i - xtarg_i)^2
-  \f}
-  where \f$i\f$ indexes over dof and \f$c_i\f$ are coeffs
- */
-struct JointPoseTermInfo : public TermInfo
-{
-  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec coeffs;
-  /** @brief Vector of position targets. This is a required value. Size should be the DOF of the system */
-  trajopt::DblVec targets;
-  /** @brief Vector of position upper limits. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec upper_tols;
-  /** @brief Vector of position lower limits. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec lower_tols;
-  /** @brief First time step to which the term is applied. Default: 0 */
-  int first_step = 0;
-  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
-  int last_step = -1;
-
-  /** @brief Initialize term with it's supported types */
-  JointPoseTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
-  {
-  }
-
-  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
-
-  static TermInfoPtr create()
-  {
-    TermInfoPtr out(new JointPoseTermInfo());
-    return out;
-  }
-};
-
-struct JointVelTermInfo : public TermInfo
-{
-  /** @brief Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec coeffs;
-  /** @brief Vector of velocity targets. This is a required value. Size should be the DOF of the system */
-  trajopt::DblVec targets;
-  /** @brief Vector of velocity upper limits. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec upper_tols;
-  /** @brief Vector of velocity lower limits. Size should be the DOF of the system. Default: vector of 0's*/
-  trajopt::DblVec lower_tols;
-  /** @brief First time step to which the term is applied. Default: 0*/
-  int first_step = 0;
-  /** @brief Last time step to which the term is applied. Default: prob.GetNumSteps() - 1*/
-  int last_step = -1;
-
-  /** @brief Initialize term with it's supported types */
-  JointVelTermInfo() : TermInfo(TT_COST | TT_CNT | TT_USE_TIME)
-  {
-  }
-
-  /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void addObjectiveTerms(TrajOptProblem& prob) override;
-
-  static TermInfoPtr create()
-  {
-    TermInfoPtr out(new JointVelTermInfo());
-    return out;
-  }
-};
-
-void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>& current_joint_values,
-                               trajopt::TrajArray& init_traj);
-
-}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD b/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
deleted file mode 100644
index 74432fa83c..0000000000
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h~HEAD
+++ /dev/null
@@ -1,77 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2019, PickNik, LLC.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of PickNik nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Omid Heidari */
-#pragma once
-
-#include <ros/ros.h>
-#include <trajopt_sco/sco_common.hpp>
-#include <moveit/planning_interface/planning_interface.h>
-#include "problem_description.h"
-
-namespace trajopt_interface
-{
-MOVEIT_CLASS_FORWARD(TrajOptInterface);
-
-class TrajOptInterface
-{
-public:
-  TrajOptInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
-
-  const sco::BasicTrustRegionSQPParameters& getParams() const
-  {
-    return params_;
-  }
-
-  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
-             const planning_interface::MotionPlanRequest& req, moveit_msgs::MotionPlanDetailedResponse& res);
-
-protected:
-  /** @brief Configure everything using the param server */
-  void setTrajOptParams(sco::BasicTrustRegionSQPParameters& param);
-  void setDefaultTrajOPtParams();
-  void setProblemInfoParam(ProblemInfo& problem_info);
-  void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
-  trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
-                                          const std::vector<std::string>& group_joint_names);
-
-  ros::NodeHandle nh_;  /// The ROS node handle
-  sco::BasicTrustRegionSQPParameters params_;
-  std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
-  TrajOptProblemPtr trajopt_problem_;
-  std::string name_;
-};
-
-void callBackFunc(sco::OptProb* opt_prob, sco::OptResults& opt_res);
-}
diff --git a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD b/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
deleted file mode 100644
index 12676f57e7..0000000000
--- a/moveit_planners/trajopt/include/trajopt_interface/trajopt_planning_context.h~HEAD
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <moveit/planning_interface/planning_interface.h>
-
-#include <trajopt_interface/problem_description.h>
-#include <trajopt_interface/trajopt_interface.h>
-
-namespace trajopt_interface
-{
-MOVEIT_CLASS_FORWARD(TrajOptPlanningContext);
-
-class TrajOptPlanningContext : public planning_interface::PlanningContext
-{
-public:
-  TrajOptPlanningContext(const std::string& name, const std::string& group,
-                         const robot_model::RobotModelConstPtr& model);
-  ~TrajOptPlanningContext() override
-  {
-  }
-
-  bool solve(planning_interface::MotionPlanResponse& res) override;
-  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;
-
-  bool terminate() override;
-  void clear() override;
-
-private:
-  moveit::core::RobotModelConstPtr robot_model_;
-
-  TrajOptInterfacePtr trajopt_interface_;
-};
-}  // namespace trajopt_interface
diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
new file mode 100644
index 0000000000..3e6b065bc2
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -0,0 +1,70 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(trajopt)
+
+add_compile_options(-std=c++11 -Wall -Wextra)
+
+find_package(catkin REQUIRED COMPONENTS
+  trajopt_sco
+  trajopt_utils
+  roscpp
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(Boost COMPONENTS system python thread program_options REQUIRED)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(JSONCPP jsoncpp)
+
+link_directories(
+    /usr/local/lib
+    /usr/local/lib64
+)
+
+set(TRAJOPT_SOURCE_FILES
+    src/trajectory_costs.cpp
+    src/kinematic_terms.cpp
+    src/problem_description.cpp
+    src/utils.cpp
+)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+    ${EIGEN3_INCLUDE_DIRS}
+  LIBRARIES
+    ${PROJECT_NAME}
+    ${JSONCPP_LIBRARIES}
+  CATKIN_DEPENDS
+    trajopt_sco
+    trajopt_utils
+    roscpp
+  DEPENDS
+    EIGEN3
+    Boost
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  SYSTEM ${EIGEN3_INCLUDE_DIRS}
+  SYSTEM ${Boost_INCLUDE_DIRS}
+  SYSTEM ${JSONCPP_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} ${TRAJOPT_SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} ${Boost_SYSTEM_LIBRARY} ${JSONCPP_LIBRARIES} ${catkin_LIBRARIES})
+target_compile_options(${PROJECT_NAME} PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+
+# Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" PATTERN "*.hxx"
+  PATTERN ".svn" EXCLUDE
+ )
diff --git a/moveit_planners/trajopt/trajopt/LICENSE b/moveit_planners/trajopt/trajopt/LICENSE
new file mode 100644
index 0000000000..9103917b0f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/LICENSE
@@ -0,0 +1,11 @@
+Copyright (c) 2013, John Schulman
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+http://opensource.org/licenses/BSD-2-Clause
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx b/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
new file mode 100644
index 0000000000..7fc8edaa1c
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/cache.hxx
@@ -0,0 +1,26 @@
+#pragma once
+
+template <class KeyT, class ValueT, unsigned bufsize>
+class Cache
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  KeyT keybuf[bufsize];    // circular buffer
+  ValueT valbuf[bufsize];  // circular buffer
+  int m_i;
+  Cache() : m_i(0) { memset(keybuf, 666, sizeof(keybuf)); }
+  void put(const KeyT& key, const ValueT& value)
+  {
+    keybuf[m_i] = key;
+    valbuf[m_i] = value;
+    ++m_i;
+    if (m_i == bufsize)
+      m_i = 0;
+  }
+  ValueT* get(const KeyT& key)
+  {
+    KeyT* it = std::find(&keybuf[0], &keybuf[0] + bufsize, key);
+    return (it == &keybuf[0] + bufsize) ? nullptr : &valbuf[it - &keybuf[0]];
+  }
+};
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/common.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/common.hpp
new file mode 100644
index 0000000000..41b82a6046
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/common.hpp
@@ -0,0 +1,3 @@
+#pragma once
+#include <trajopt/typedefs.hpp>
+#include <trajopt/utils.hpp>
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
index 96274cf9c7..8149180af3 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
@@ -4,7 +4,7 @@
 
 #include <Eigen/Geometry>
 
-namespace trajopt_interface
+namespace trajopt
 {
 /**
  * @brief Extracts the vector part of quaternion
@@ -90,4 +90,4 @@ struct JointVelJacobianCalculator : sco::MatrixOfVector
   Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
 };
 
-}  // namespace trajopt_interface
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
index 825c82262d..6d6ff865f8 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/problem_description.h
@@ -1,6 +1,6 @@
 #pragma once
+
 #include <trajopt/common.hpp>
-#include <trajopt/json_marshal.hpp>
 #include <trajopt_sco/optimizers.hpp>
 
 #include <moveit/robot_model/robot_model.h>
@@ -8,7 +8,7 @@
 
 #include <memory>
 
-namespace trajopt_interface
+namespace trajopt
 {
 /**
 @brief Used to apply cost/constraint to joint-space velocity
@@ -109,12 +109,12 @@ struct InitInfo
   };
   /** @brief Specifies the type of initialization to use */
   Type type;
+
   /** @brief Data used during initialization. Use depends on the initialization selected. This data will be used
       to create initialization matrix. We need to give the goal information to this init info
    */
   trajopt::TrajArray data;
-  //  Eigen::VectorXd data_vec;
-  //  trajopt::TrajArray data_trajectory;
+
   /** @brief Default value the final column of the optimization is initialized too if time is being used */
   double dt = 1.0;
 };
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
new file mode 100644
index 0000000000..5741151f74
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
@@ -0,0 +1,533 @@
+#pragma once
+
+/**
+Simple quadratic costs on trajectory
+*/
+
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_utils/macros.h>
+
+#include "trajopt/common.hpp"
+
+namespace trajopt
+{
+class TRAJOPT_API JointPosEqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointPosEqCost(const VarArray& traj,
+                 const Eigen::VectorXd& coeffs,
+                 const Eigen::VectorXd& targets,
+                 int& first_step,
+                 int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the cost as an expression */
+  sco::QuadExpr expr_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+/**
+ * @brief The JointVelIneqCost class
+ * Assumes that the target is ...
+ */
+class TRAJOPT_API JointPosIneqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointPosIneqCost(const VarArray& traj,
+                   const Eigen::VectorXd& coeffs,
+                   const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits,
+                   const Eigen::VectorXd& lower_limits,
+                   int& first_step,
+                   int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointPosEqConstraint : public sco::EqConstraint
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointPosEqConstraint(const VarArray& traj,
+                       const Eigen::VectorXd& coeffs,
+                       const Eigen::VectorXd& targetss,
+                       int& first_step,
+                       int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps */
+  std::vector<sco::AffExpr> expr_vec_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointPosIneqConstraint : public sco::IneqConstraint
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointPosIneqConstraint(const VarArray& traj,
+                         const Eigen::VectorXd& coeffs,
+                         const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits,
+                         const Eigen::VectorXd& lower_limits,
+                         int& first_step,
+                         int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointVelEqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointVelEqCost(const VarArray& traj,
+                 const Eigen::VectorXd& coeffs,
+                 const Eigen::VectorXd& targets,
+                 int& first_step,
+                 int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values using Eigen*/
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the cost as an expression */
+  sco::QuadExpr expr_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointVelIneqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointVelIneqCost(const VarArray& traj,
+                   const Eigen::VectorXd& coeffs,
+                   const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits,
+                   const Eigen::VectorXd& lower_limits,
+                   int& first_step,
+                   int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*num_timesteps*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointVelEqConstraint : public sco::EqConstraint
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointVelEqConstraint(const VarArray& traj,
+                       const Eigen::VectorXd& coeffs,
+                       const Eigen::VectorXd& targets,
+                       int& first_step,
+                       int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-1) */
+  std::vector<sco::AffExpr> expr_vec_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointVelIneqConstraint : public sco::IneqConstraint
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointVelIneqConstraint(const VarArray& traj,
+                         const Eigen::VectorXd& coeffs,
+                         const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits,
+                         const Eigen::VectorXd& lower_limits,
+                         int& first_step,
+                         int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-1)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointAccEqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointAccEqCost(const VarArray& traj,
+                 const Eigen::VectorXd& coeffs,
+                 const Eigen::VectorXd& targets,
+                 int& first_step,
+                 int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the cost as an expression */
+  sco::QuadExpr expr_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointAccIneqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointAccIneqCost(const VarArray& traj,
+                   const Eigen::VectorXd& coeffs,
+                   const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits,
+                   const Eigen::VectorXd& lower_limits,
+                   int& first_step,
+                   int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of acceleration targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-2)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointAccEqConstraint : public sco::EqConstraint
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointAccEqConstraint(const VarArray& traj,
+                       const Eigen::VectorXd& coeffs,
+                       const Eigen::VectorXd& targets,
+                       int& first_step,
+                       int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-2) */
+  std::vector<sco::AffExpr> expr_vec_;
+  /** @brief Vector of acceleration targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointAccIneqConstraint : public sco::IneqConstraint
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointAccIneqConstraint(const VarArray& traj,
+                         const Eigen::VectorXd& coeffs,
+                         const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits,
+                         const Eigen::VectorXd& lower_limits,
+                         int& first_step,
+                         int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of acceleration targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-2)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointJerkEqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in QuadExpr - independent of penalty type */
+  JointJerkEqCost(const VarArray& traj,
+                  const Eigen::VectorXd& coeffs,
+                  const Eigen::VectorXd& targets,
+                  int& first_step,
+                  int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the cost as an expression */
+  sco::QuadExpr expr_;
+  /** @brief Vector of jerk targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointJerkIneqCost : public sco::Cost
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointJerkIneqCost(const VarArray& traj,
+                    const Eigen::VectorXd& coeffs,
+                    const Eigen::VectorXd& targets,
+                    const Eigen::VectorXd& upper_limits,
+                    const Eigen::VectorXd& lower_limits,
+                    int& first_step,
+                    int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  double value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of jerk targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-4)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+
+class TRAJOPT_API JointJerkEqConstraint : public sco::EqConstraint
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointJerkEqConstraint(const VarArray& traj,
+                        const Eigen::VectorXd& coeffs,
+                        const Eigen::VectorXd& targets,
+                        int& first_step,
+                        int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-4) */
+  std::vector<sco::AffExpr> expr_vec_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+};
+
+class TRAJOPT_API JointJerkIneqConstraint : public sco::IneqConstraint
+{
+public:
+  /** @brief Forms error in a vector of AffExpr - independent of penalty type */
+  JointJerkIneqConstraint(const VarArray& traj,
+                          const Eigen::VectorXd& coeffs,
+                          const Eigen::VectorXd& targets,
+                          const Eigen::VectorXd& upper_limits,
+                          const Eigen::VectorXd& lower_limits,
+                          int& first_step,
+                          int& last_step);
+  /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
+  sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  /** @brief Numerically evaluate cost given the vector of values */
+  DblVec value(const DblVec&) override;
+  sco::VarVector getVars() override { return vars_.flatten(); }
+private:
+  /** @brief The variables being optimized. Used to properly index the vector being optimized */
+  VarArray vars_;
+  /** @brief The coefficients used to weight the cost */
+  Eigen::VectorXd coeffs_;
+  /** @brief Vector of upper tolerances */
+  Eigen::VectorXd upper_tols_;
+  /** @brief Vector of lower tolerances */
+  Eigen::VectorXd lower_tols_;
+  /** @brief Vector of velocity targets */
+  Eigen::VectorXd targets_;
+  /** @brief First time step to which the term is applied */
+  int first_step_;
+  /** @brief Last time step to which the term is applied */
+  int last_step_;
+  /** @brief Stores the costs as an expression. Will be length num_jnts*(num_timesteps-4)*2 */
+  std::vector<sco::AffExpr> expr_vec_;
+};
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
new file mode 100644
index 0000000000..28b06f3054
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
@@ -0,0 +1,77 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+#include <trajopt_utils/basic_array.hpp>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <map>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+
+namespace trajopt
+{
+typedef util::BasicArray<sco::Var> VarArray;
+typedef util::BasicArray<sco::AffExpr> AffArray;
+typedef util::BasicArray<sco::Cnt> CntArray;
+typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> DblMatrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> TrajArray;
+typedef sco::DblVec DblVec;
+typedef sco::IntVec IntVec;
+
+
+/**  @brief Adds plotting to the CostFromErrFunc class in trajopt_sco */
+class TrajOptCostFromErrFunc : public sco::CostFromErrFunc
+{
+public:
+  /// supply error function, obtain derivative numerically
+  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f,
+                         const sco::VarVector& vars,
+                         const Eigen::VectorXd& coeffs,
+                         sco::PenaltyType pen_type,
+                         const std::string& name)
+    : CostFromErrFunc(f, vars, coeffs, pen_type, name)
+  {
+  }
+
+  /// supply error function and gradient
+  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f,
+                         sco::MatrixOfVectorPtr dfdx,
+                         const sco::VarVector& vars,
+                         const Eigen::VectorXd& coeffs,
+                         sco::PenaltyType pen_type,
+                         const std::string& name)
+    : CostFromErrFunc(f, dfdx, vars, coeffs, pen_type, name)
+  {
+  }
+
+};
+
+/**  @brief Adds plotting to the ConstraintFromFunc class in trajopt_sco */
+class TrajOptConstraintFromErrFunc : public sco::ConstraintFromErrFunc
+{
+public:
+  /// supply error function, obtain derivative numerically
+  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f,
+                               const sco::VarVector& vars,
+                               const Eigen::VectorXd& coeffs,
+                               sco::ConstraintType type,
+                               const std::string& name)
+    : ConstraintFromErrFunc(f, vars, coeffs, type, name)
+  {
+  }
+
+  /// supply error function and gradient
+  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f,
+                               sco::MatrixOfVectorPtr dfdx,
+                               const sco::VarVector& vars,
+                               const Eigen::VectorXd& coeffs,
+                               sco::ConstraintType type,
+                               const std::string& name)
+    : ConstraintFromErrFunc(f, dfdx, vars, coeffs, type, name)
+  {
+  }
+
+};
+}
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
new file mode 100644
index 0000000000..9d24300402
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
@@ -0,0 +1,153 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <unordered_map>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt/typedefs.hpp>
+
+namespace trajopt
+{
+template <typename Key, typename Value>
+using AlignedUnorderedMap = std::unordered_map<Key,
+                                               Value,
+                                               std::hash<Key>,
+                                               std::equal_to<Key>,
+                                               Eigen::aligned_allocator<std::pair<const Key, Value>>>;
+
+/**
+Extract trajectory array from solution vector x using indices in array vars
+*/
+TrajArray TRAJOPT_API getTraj(const DblVec& x, const VarArray& vars);
+TrajArray TRAJOPT_API getTraj(const DblVec& x, const AffArray& arr);
+
+inline DblVec trajToDblVec(const TrajArray& x) { return DblVec(x.data(), x.data() + x.rows() * x.cols()); }
+
+/**
+ * @brief Appends b to a of type VectorXd
+ */
+inline Eigen::VectorXd concat(const Eigen::VectorXd& a, const Eigen::VectorXd& b)
+{
+  Eigen::VectorXd out(a.size() + b.size());
+  out.topRows(a.size()) = a;
+  out.middleRows(a.size(), b.size()) = b;
+  return out;
+}
+
+/**
+ * @brief Appends b to a of type T
+ */
+template <typename T>
+std::vector<T> concat(const std::vector<T>& a, const std::vector<T>& b)
+{
+  std::vector<T> out;
+  std::vector<int> x(a.size() + b.size());
+  out.insert(out.end(), a.begin(), a.end());
+  out.insert(out.end(), b.begin(), b.end());
+  return out;
+}
+
+template <typename T>
+std::vector<T> singleton(const T& x)
+{
+  return std::vector<T>(1, x);
+}
+
+void TRAJOPT_API AddVarArrays(sco::OptProb& prob,
+                              int rows,
+                              const std::vector<int>& cols,
+                              const std::vector<std::string>& name_prefix,
+                              const std::vector<VarArray*>& newvars);
+
+void TRAJOPT_API AddVarArray(sco::OptProb& prob, int rows, int cols, const std::string& name_prefix, VarArray& newvars);
+
+/** @brief Store Safety Margin Data for a given timestep */
+struct SafetyMarginData
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  SafetyMarginData(const double& default_safety_margin, const double& default_safety_margin_coeff)
+    : default_safety_margin_data_(default_safety_margin, default_safety_margin_coeff)
+    , max_safety_margin_(default_safety_margin)
+  {
+  }
+
+  /**
+   * @brief Set the safety margin for a given contact pair
+   *
+   * The order of the object names does not matter, that is handled internal to
+   * the class.
+   *
+   * @param obj1 The first object name
+   * @param obj2 The Second object name
+   * @param safety_margins contacts with distance < safety_margin are penalized
+   * @param safety_margin_coeffs A safety margin coefficient vector where each
+   * element corresponds to a given timestep.
+   */
+  void SetPairSafetyMarginData(const std::string& obj1,
+                               const std::string& obj2,
+                               const double& safety_margin,
+                               const double& safety_margin_coeff)
+  {
+    Eigen::Vector2d data(safety_margin, safety_margin_coeff);
+
+    pair_lookup_table_[obj1 + obj2] = data;
+    pair_lookup_table_[obj2 + obj1] = data;
+
+    if (safety_margin > max_safety_margin_)
+    {
+      max_safety_margin_ = safety_margin;
+    }
+  }
+
+  const Eigen::Vector2d& getPairSafetyMarginData(const std::string& obj1, const std::string& obj2) const
+  {
+    const std::string& key = obj1 + obj2;
+    auto it = pair_lookup_table_.find(key);
+
+    if (it != pair_lookup_table_.end())
+    {
+      return it->second;
+    }
+    else
+    {
+      return default_safety_margin_data_;
+    }
+  }
+
+  const double& getMaxSafetyMargin() const { return max_safety_margin_; }
+private:
+  /// The coeff used during optimization
+  /// safety margin: contacts with distance < dist_pen are penalized
+  /// Stores [dist_pen, coeff]
+  Eigen::Vector2d default_safety_margin_data_;
+
+  /// This use when requesting collision data because you can only provide a
+  /// single contact distance threshold.
+  double max_safety_margin_;
+
+  /// A map of link pair to contact distance setting [dist_pen, coeff]
+  AlignedUnorderedMap<std::string, Eigen::Vector2d> pair_lookup_table_;
+};
+typedef std::shared_ptr<SafetyMarginData> SafetyMarginDataPtr;
+typedef std::shared_ptr<const SafetyMarginData> SafetyMarginDataConstPtr;
+
+/**
+ * @brief This is a utility function for creating the Safety Margin data vector
+ * @param num_elements The number of objects to create
+ * @param default_safety_margin Default safety margin
+ * @param default_safety_margin_coeff Default safety margin coeff
+ * @return A vector of Safety Margin Data
+ */
+inline std::vector<SafetyMarginDataPtr> createSafetyMarginDataVector(int num_elements,
+                                                                     const double& default_safety_margin,
+                                                                     const double& default_safety_margin_coeff)
+{
+  std::vector<SafetyMarginDataPtr> info;
+  info.reserve(static_cast<size_t>(num_elements));
+  for (auto i = 0; i < num_elements; ++i)
+  {
+    info.push_back(SafetyMarginDataPtr(new SafetyMarginData(default_safety_margin, default_safety_margin_coeff)));
+  }
+  return info;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt/package.xml b/moveit_planners/trajopt/trajopt/package.xml
new file mode 100644
index 0000000000..d17422a2a7
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>trajopt</name>
+  <version>0.1.0</version>
+  <description>The trajopt package</description>
+  <maintainer email="levi.armstrong@swri.org">Levi Armstrong</maintainer>
+  <license>BSD</license>
+  <license>Apache 2.0</license>
+  <author>Levi Armstrong</author>
+  <author>John Schulman</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>trajopt_sco</depend>
+  <depend>trajopt_utils</depend>
+  <depend>roscpp</depend>
+
+  <test_depend>gtest</test_depend>
+  <test_depend>rostest</test_depend>
+  <test_depend>roslib</test_depend>
+  <test_depend>trajopt_test_support</test_depend>
+  <test_depend>libpcl-all-dev</test_depend>
+  <test_depend>pcl_conversions</test_depend>
+  <test_depend>pr2_description</test_depend>
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+
+  </export>
+</package>
diff --git a/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp b/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
index 92d75fb78b..4559e5b8a1 100644
--- a/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
+++ b/moveit_planners/trajopt/trajopt/src/kinematic_terms.cpp
@@ -4,13 +4,13 @@
 #include <trajopt_sco/expr_ops.hpp>
 #include <trajopt_sco/modeling_utils.hpp>
 
-#include "trajopt_interface/kinematic_terms.h"
+#include "trajopt/kinematic_terms.h"
 
 using namespace std;
 using namespace sco;
 using namespace Eigen;
 
-namespace trajopt_interface
+namespace trajopt
 {
 VectorXd CartPoseErrCalculator::operator()(const VectorXd& dof_vals) const
 {
@@ -61,4 +61,4 @@ MatrixXd JointVelJacobianCalculator::operator()(const VectorXd& var_vals) const
   return jac;
 }
 
-}  // namespace trajopt_interface
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 7cd678282c..3a7c9477ca 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -32,6 +32,7 @@
  *********************************************************************/
 
 #include <boost/algorithm/string.hpp>
+#include <boost/format.hpp>
 
 #include <ros/ros.h>
 
@@ -39,7 +40,6 @@
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit_msgs/MotionPlanRequest.h>
 
-#include <trajopt/trajectory_costs.hpp>
 #include <trajopt_sco/expr_op_overloads.hpp>
 #include <trajopt_sco/expr_ops.hpp>
 #include <trajopt_utils/eigen_conversions.hpp>
@@ -47,8 +47,9 @@
 #include <trajopt_utils/logging.hpp>
 #include <trajopt_utils/vector_ops.hpp>
 
-#include "trajopt_interface/problem_description.h"
-#include "trajopt_interface/kinematic_terms.h"
+#include <trajopt/trajectory_costs.hpp>
+#include <trajopt/kinematic_terms.h>
+#include "trajopt/problem_description.h"
 
 /**
  * @brief Checks the size of the parameter given and throws if incorrect
@@ -71,7 +72,7 @@ void checkParameterSize(trajopt::DblVec& parameter, const unsigned int& expected
   }
 }
 
-namespace trajopt_interface
+namespace trajopt
 {
 TrajOptProblem::TrajOptProblem()
 {
diff --git a/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp b/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
new file mode 100644
index 0000000000..eaaa1b0fd4
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
@@ -0,0 +1,955 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_utils/eigen_conversions.hpp>
+
+#include "trajopt/trajectory_costs.hpp"
+
+namespace
+{
+/** @brief Returns the difference between each row of a matrixXd and the row before */
+static Eigen::MatrixXd diffAxis0(const Eigen::MatrixXd& in)
+{
+  return in.middleRows(1, in.rows() - 1) - in.middleRows(0, in.rows() - 1);
+}
+}  // namespace
+
+namespace trajopt
+{
+//////////// Joint cost functions /////////////////
+
+//////////////////// Position /////////////////////
+JointPosEqCost::JointPosEqCost(const VarArray& vars,
+                               const Eigen::VectorXd& coeffs,
+                               const Eigen::VectorXd& targets,
+                               int& first_step,
+                               int& last_step)
+  : Cost("JointPosEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // pos = x1 - targ
+      sco::AffExpr pos;
+      sco::exprInc(pos, sco::exprMult(vars(i, j), 1));
+      sco::exprDec(pos, targets_[j]);
+      // expr_ = coeff * vel^2
+      sco::exprInc(expr_, sco::exprMult(sco::exprSquare(pos), coeffs_[j]));
+    }
+  }
+}
+double JointPosEqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = (getTraj(xvec, vars_));
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())).rowwise() - targets_.transpose();
+  // Element-wise square it, multiply it by a diagonal matrix of coefficients, and sums output
+  return (diff.array().square().matrix() * coeffs_.asDiagonal()).sum();
+}
+sco::ConvexObjectivePtr JointPosEqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  out->addQuadExpr(expr_);
+  return out;
+}
+
+JointPosIneqCost::JointPosIneqCost(const VarArray& vars,
+                                   const Eigen::VectorXd& coeffs,
+                                   const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols,
+                                   const Eigen::VectorXd& lower_tols,
+                                   int& first_step,
+                                   int& last_step)
+  : Cost("JointPosIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      // pos = x1 - targ
+      sco::AffExpr pos;
+      sco::exprInc(pos, sco::exprMult(vars(i, j), 1));
+      sco::exprDec(pos, targets_[j]);
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprDec(expr, pos);           // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);  // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprDec(expr_neg, pos);          // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);  // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+double JointPosIneqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd pos = traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols());
+  // Subtract targets to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (pos.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  return diff1.cwiseMax(0).sum() + diff2.cwiseMax(0).sum();
+}
+
+sco::ConvexObjectivePtr JointPosIneqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addHinge(expr, 1);
+  }
+  return out;
+}
+
+JointPosEqConstraint::JointPosEqConstraint(const VarArray& vars,
+                                           const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets,
+                                           int& first_step,
+                                           int& last_step)
+  : EqConstraint("JointPosEq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // pos = x1 - targ
+      sco::AffExpr pos;
+      sco::exprInc(pos, sco::exprMult(vars(i, j), 1));
+      sco::exprDec(pos, targets_[j]);
+      // expr_ = coeff * vel - Not squared b/c QuadExpr cnt not yet supported (TODO)
+      expr_vec_.push_back(sco::exprMult(pos, coeffs_[j]));
+    }
+  }
+}
+
+DblVec JointPosEqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())).rowwise() - targets_.transpose();
+  // Squares it, multiplies it by a diagonal matrix of coefficients, and converts to vector
+  return util::toDblVec((diff.array().square()).matrix() * coeffs_.asDiagonal());
+}
+sco::ConvexConstraintsPtr JointPosEqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addEqCnt(expr);
+  }
+  return out;
+}
+
+JointPosIneqConstraint::JointPosIneqConstraint(const VarArray& vars,
+                                               const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets,
+                                               const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols,
+                                               int& first_step,
+                                               int& last_step)
+  : IneqConstraint("JointPosIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      // pos = x1 - targ
+      sco::AffExpr pos;
+      sco::exprInc(pos, sco::exprMult(vars(i, j), 1));
+      sco::exprDec(pos, targets_[j]);
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprDec(expr, pos);           // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);  // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr = (upper_tol-(vel-targ))
+      sco::exprDec(expr_neg, pos);          // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);  // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+DblVec JointPosIneqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd pos = diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()));
+  // Subtract targets to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (pos.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  Eigen::MatrixXd out(diff1.rows(), diff1.cols() + diff2.cols());
+  out << diff1, diff2;
+  return util::toDblVec(out);
+}
+
+sco::ConvexConstraintsPtr JointPosIneqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addIneqCnt(expr);
+  }
+  return out;
+}
+
+//////////////////// Velocity /////////////////////
+JointVelEqCost::JointVelEqCost(const VarArray& vars,
+                               const Eigen::VectorXd& coeffs,
+                               const Eigen::VectorXd& targets,
+                               int& first_step,
+                               int& last_step)
+  : Cost("JointVelEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 1; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // vel = (x2 - x1) - targ
+      sco::AffExpr vel;
+      sco::exprInc(vel, sco::exprMult(vars(i, j), -1));
+      sco::exprInc(vel, sco::exprMult(vars(i + 1, j), 1));
+      exprDec(vel, targets_[j]);
+      // expr_ = coeff * vel^2
+      exprInc(expr_, exprMult(exprSquare(vel), coeffs_[j]));
+    }
+  }
+}
+double JointVelEqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = (getTraj(xvec, vars_));
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff = (diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()))).rowwise() -
+                         targets_.transpose();
+  // Element-wise square it, multiply it by a diagonal matrix of coefficients, and sums output
+  return (diff.array().square().matrix() * coeffs_.asDiagonal()).sum();
+}
+sco::ConvexObjectivePtr JointVelEqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  out->addQuadExpr(expr_);
+  return out;
+}
+
+JointVelIneqCost::JointVelIneqCost(const VarArray& vars,
+                                   const Eigen::VectorXd& coeffs,
+                                   const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols,
+                                   const Eigen::VectorXd& lower_tols,
+                                   int& first_step,
+                                   int& last_step)
+  : Cost("JointVelIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 1; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // vel = (x2 - x1) - targ
+      sco::AffExpr vel;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(vel, sco::exprMult(vars(i, j), -1));
+      sco::exprInc(vel, sco::exprMult(vars(i + 1, j), 1));
+      sco::exprDec(vel, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, vel);             // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr =  (upper_tol-(vel-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, vel);             // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+double JointVelIneqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd vel = diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (vel.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  return diff1.cwiseMax(0).sum() + diff2.cwiseMax(0).sum();
+}
+
+sco::ConvexObjectivePtr JointVelIneqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addHinge(expr, 1);
+  }
+  return out;
+}
+
+JointVelEqConstraint::JointVelEqConstraint(const VarArray& vars,
+                                           const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets,
+                                           int& first_step,
+                                           int& last_step)
+  : EqConstraint("JointVelEq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 1; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // vel = (x2 - x1) - targ
+      sco::AffExpr vel;
+      sco::exprInc(vel, sco::exprMult(vars(i, j), -1));
+      sco::exprInc(vel, sco::exprMult(vars(i + 1, j), 1));
+      sco::exprDec(vel, targets_[j]);
+      // expr_ = coeff * vel - Not squared b/c QuadExpr cnt not yet supported (TODO)
+      expr_vec_.push_back(sco::exprMult(vel, coeffs_[j]));
+    }
+  }
+}
+
+DblVec JointVelEqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff = (diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()))).rowwise() -
+                         targets_.transpose();
+  // Squares it, multiplies it by a diagonal matrix of coefficients, and converts to vector
+  return util::toDblVec((diff.array().square()).matrix() * coeffs_.asDiagonal());
+}
+sco::ConvexConstraintsPtr JointVelEqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addEqCnt(expr);
+  }
+  return out;
+}
+
+JointVelIneqConstraint::JointVelIneqConstraint(const VarArray& vars,
+                                               const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets,
+                                               const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols,
+                                               int& first_step,
+                                               int& last_step)
+  : IneqConstraint("JointVelIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 1; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // vel = (x2 - x1) - targ
+      sco::AffExpr vel;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(vel, sco::exprMult(vars(i, j), -1));
+      sco::exprInc(vel, sco::exprMult(vars(i + 1, j), 1));
+      sco::exprDec(vel, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, vel);             // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr = (lower_tol-(vel-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, vel);             // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+DblVec JointVelIneqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd vel = diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (vel.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  Eigen::MatrixXd out(diff1.rows(), diff1.cols() + diff2.cols());
+  out << diff1, diff2;
+  return util::toDblVec(out.cwiseMax(0));
+}
+
+sco::ConvexConstraintsPtr JointVelIneqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addIneqCnt(expr);
+  }
+  return out;
+}
+
+//////////////////// Acceleration /////////////////////
+JointAccEqCost::JointAccEqCost(const VarArray& vars,
+                               const Eigen::VectorXd& coeffs,
+                               const Eigen::VectorXd& targets,
+                               int& first_step,
+                               int& last_step)
+  : Cost("JointAccEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 2; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // acc = (x3 - 2*x2 + x1) - targ
+      sco::AffExpr acc;
+      sco::exprInc(acc, sco::exprMult(vars(i, j), 1.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 1, j), -2.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 2, j), 1.0));
+
+      sco::exprDec(acc, targets_[j]);
+      // expr_ = coeff * acc^2
+      sco::exprInc(expr_, sco::exprMult(sco::exprSquare(acc), coeffs_[j]));
+    }
+  }
+}
+double JointAccEqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = (getTraj(xvec, vars_));
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())))).rowwise() -
+      targets_.transpose();
+  // Element-wise square it, multiply it by a diagonal matrix of coefficients, and sums output
+  return (diff.array().square().matrix() * coeffs_.asDiagonal()).sum();
+}
+sco::ConvexObjectivePtr JointAccEqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  out->addQuadExpr(expr_);
+  return out;
+}
+
+JointAccIneqCost::JointAccIneqCost(const VarArray& vars,
+                                   const Eigen::VectorXd& coeffs,
+                                   const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols,
+                                   const Eigen::VectorXd& lower_tols,
+                                   int& first_step,
+                                   int& last_step)
+  : Cost("JointAccIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 2; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // acc = (x3 - 2*x2 + x1) - targ
+      sco::AffExpr acc;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(acc, sco::exprMult(vars(i, j), 1.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 1, j), -2.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 2, j), 1.0));
+      sco::exprDec(acc, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(acc-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, acc);             // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr = (lower_tol-(acc-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, acc);             // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+double JointAccIneqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd acc = diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (acc.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  return diff1.cwiseMax(0).sum() + diff2.cwiseMax(0).sum();
+}
+
+sco::ConvexObjectivePtr JointAccIneqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addHinge(expr, 1);
+  }
+  return out;
+}
+
+JointAccEqConstraint::JointAccEqConstraint(const VarArray& vars,
+                                           const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets,
+                                           int& first_step,
+                                           int& last_step)
+  : EqConstraint("JointAccEq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 2; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // acc = (x3 - 2*x2 + x1) - targ
+      sco::AffExpr acc;
+      sco::exprInc(acc, sco::exprMult(vars(i, j), 1.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 1, j), -2.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 2, j), 1.0));
+
+      sco::exprDec(acc, targets_[j]);  // offset to center about 0
+      // expr_ = coeff * vel - Not squared b/c QuadExpr cnt not yet supported (TODO)
+      expr_vec_.push_back(sco::exprMult(acc, coeffs_[j]));
+    }
+  }
+}
+
+DblVec JointAccEqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())))).rowwise() -
+      targets_.transpose();
+  // Squares it, multiplies it by a diagonal matrix of coefficients, and converts to vector
+  return util::toDblVec((diff.array().square()).matrix() * coeffs_.asDiagonal());
+}
+sco::ConvexConstraintsPtr JointAccEqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addEqCnt(expr);
+  }
+  return out;
+}
+
+JointAccIneqConstraint::JointAccIneqConstraint(const VarArray& vars,
+                                               const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets,
+                                               const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols,
+                                               int& first_step,
+                                               int& last_step)
+  : IneqConstraint("JointAccIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  // Form upper limit expr = - (upper_tol-(vel-targ))
+  for (int i = first_step_; i <= last_step_ - 2; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      // acc = (x3 - 2*x2 + x1) - targ
+      sco::AffExpr acc;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(acc, sco::exprMult(vars(i, j), 1.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 1, j), -2.0));
+      sco::exprInc(acc, sco::exprMult(vars(i + 2, j), 1.0));
+      sco::exprDec(acc, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, acc);             // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, acc);             // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+DblVec JointAccIneqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd acc = diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (acc.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  Eigen::MatrixXd out(diff1.rows(), diff1.cols() + diff2.cols());
+  out << diff1, diff2;
+  return util::toDblVec(out.cwiseMax(0));
+}
+
+sco::ConvexConstraintsPtr JointAccIneqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addIneqCnt(expr);
+  }
+  return out;
+}
+
+//////////////////// Jerk /////////////////////
+JointJerkEqCost::JointJerkEqCost(const VarArray& vars,
+                                 const Eigen::VectorXd& coeffs,
+                                 const Eigen::VectorXd& targets,
+                                 int& first_step,
+                                 int& last_step)
+  : Cost("JointJerkEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 4; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr jerk;
+      sco::exprInc(jerk, sco::exprMult(vars(i, j), -1.0 / 2.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 1, j), 1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 2, j), 0.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 3, j), -1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 4, j), 1.0 / 2.0));
+
+      sco::exprDec(jerk, targets_[j]);
+      // expr_ = coeff * jerk^2
+      sco::exprInc(expr_, sco::exprMult(sco::exprSquare(jerk), coeffs_[j]));
+    }
+  }
+}
+double JointJerkEqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = (getTraj(xvec, vars_));
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (diffAxis0(diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())))))
+          .rowwise() -
+      targets_.transpose();
+  // Element-wise square it, multiply it by a diagonal matrix of coefficients, and sums output
+  return (diff.array().square().matrix() * coeffs_.asDiagonal()).sum();
+}
+sco::ConvexObjectivePtr JointJerkEqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  out->addQuadExpr(expr_);
+  return out;
+}
+
+JointJerkIneqCost::JointJerkIneqCost(const VarArray& vars,
+                                     const Eigen::VectorXd& coeffs,
+                                     const Eigen::VectorXd& targets,
+                                     const Eigen::VectorXd& upper_tols,
+                                     const Eigen::VectorXd& lower_tols,
+                                     int& first_step,
+                                     int& last_step)
+  : Cost("JointJerkIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 4; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr jerk;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(jerk, sco::exprMult(vars(i, j), -1.0 / 2.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 1, j), 1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 2, j), 0.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 3, j), -1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 4, j), 1.0 / 2.0));
+      sco::exprDec(jerk, targets_[j]);
+
+      // Form upper limit expr = - (upper_tol-(jerk-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, jerk);            // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form lower limit expr = (lower_tol-(acc-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, jerk);            // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+double JointJerkIneqCost::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd jerk =
+      diffAxis0(diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols()))));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (jerk.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  return diff1.cwiseMax(0).sum() + diff2.cwiseMax(0).sum();
+}
+
+sco::ConvexObjectivePtr JointJerkIneqCost::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexObjectivePtr out(new sco::ConvexObjective(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addHinge(expr, 1);
+  }
+  return out;
+}
+
+JointJerkEqConstraint::JointJerkEqConstraint(const VarArray& vars,
+                                             const Eigen::VectorXd& coeffs,
+                                             const Eigen::VectorXd& targets,
+                                             int& first_step,
+                                             int& last_step)
+  : EqConstraint("JointJerkEq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 4; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr jerk;
+      sco::exprInc(jerk, sco::exprMult(vars(i, j), -1.0 / 2.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 1, j), 1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 2, j), 0.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 3, j), -1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 4, j), 1.0 / 2.0));
+
+      sco::exprDec(jerk, targets_[j]);  // offset to center about 0
+      // expr_ = coeff * jerk - Not squared b/c QuadExpr cnt not yet supported (TODO)
+      expr_vec_.push_back(sco::exprMult(jerk, coeffs_[j]));
+    }
+  }
+}
+
+DblVec JointJerkEqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows and subtract each row by the targets_ vector
+  Eigen::MatrixXd diff =
+      (diffAxis0(diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())))))
+          .rowwise() -
+      targets_.transpose();
+  // Squares it, multiplies it by a diagonal matrix of coefficients, and converts to vector
+  return util::toDblVec((diff.array().square()).matrix() * coeffs_.asDiagonal());
+}
+sco::ConvexConstraintsPtr JointJerkEqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addEqCnt(expr);
+  }
+  return out;
+}
+
+JointJerkIneqConstraint::JointJerkIneqConstraint(const VarArray& vars,
+                                                 const Eigen::VectorXd& coeffs,
+                                                 const Eigen::VectorXd& targets,
+                                                 const Eigen::VectorXd& upper_tols,
+                                                 const Eigen::VectorXd& lower_tols,
+                                                 int& first_step,
+                                                 int& last_step)
+  : IneqConstraint("JointJerkIneq")
+  , vars_(vars)
+  , coeffs_(coeffs)
+  , upper_tols_(upper_tols)
+  , lower_tols_(lower_tols)
+  , targets_(targets)
+  , first_step_(first_step)
+  , last_step_(last_step)
+{
+  for (int i = first_step_; i <= last_step_ - 4; ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      sco::AffExpr jerk;
+      sco::AffExpr expr;
+      sco::AffExpr expr_neg;
+      sco::exprInc(jerk, sco::exprMult(vars(i, j), -1.0 / 2.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 1, j), 1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 2, j), 0.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 3, j), -1.0));
+      sco::exprInc(jerk, sco::exprMult(vars(i + 4, j), 1.0 / 2.0));
+      sco::exprDec(jerk, targets_[j]);  // offset to center about 0
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr, upper_tols_[j]);  // expr_ = upper_tol
+      sco::exprDec(expr, jerk);            // expr = upper_tol_- (vel - targets_)
+      sco::exprScale(expr, -coeffs[j]);    // expr = - (upper_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr);
+
+      // Form upper limit expr = - (upper_tol-(vel-targ))
+      sco::exprInc(expr_neg, lower_tols_[j]);  // expr_ = lower_tol_
+      sco::exprDec(expr_neg, jerk);            // expr = lower_tol_- (vel - targets_)
+      sco::exprScale(expr_neg, coeffs[j]);     // expr = (lower_tol_- (vel - targets_)) * coeffs_
+      expr_vec_.push_back(expr_neg);
+    }
+  }
+}
+
+DblVec JointJerkIneqConstraint::value(const DblVec& xvec)
+{
+  // Convert vector from optimization to trajectory
+  Eigen::MatrixXd traj = getTraj(xvec, vars_);
+  // Takes diff b/n the subsequent rows to get velocity
+  Eigen::MatrixXd acc = diffAxis0(diffAxis0(traj.block(first_step_, 0, last_step_ - first_step_ + 1, traj.cols())));
+  // Subtract targets_ to center about 0 and then subtract from tolerance
+  Eigen::MatrixXd diff0 = (acc.rowwise() - targets_.transpose());
+  Eigen::MatrixXd diff1 = (diff0.rowwise() - upper_tols_.transpose()) * coeffs_.asDiagonal();
+  Eigen::MatrixXd diff2 = ((diff0 * -1).rowwise() + lower_tols_.transpose()) * coeffs_.asDiagonal();
+  // Applies hinge, multiplies it by a diagonal matrix of coefficients, sums each corresponding value, and converts to
+  // vector
+  Eigen::MatrixXd out(diff1.rows(), diff1.cols() + diff2.cols());
+  out << diff1, diff2;
+  return util::toDblVec(out.cwiseMax(0));
+}
+
+sco::ConvexConstraintsPtr JointJerkIneqConstraint::convex(const DblVec& /*x*/, sco::Model* model)
+{
+  sco::ConvexConstraintsPtr out(new sco::ConvexConstraints(model));
+  // Add hinge cost. Set the coefficient to 1 here since we include it in the AffExpr already
+  // This is necessary since we want a seperate coefficient per joint
+  for (sco::AffExpr& expr : expr_vec_)
+  {
+    out->addIneqCnt(expr);
+  }
+  return out;
+}
+
+}  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/src/utils.cpp b/moveit_planners/trajopt/trajopt/src/utils.cpp
new file mode 100644
index 0000000000..95fb423fbb
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/src/utils.cpp
@@ -0,0 +1,90 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Geometry>
+#include <boost/format.hpp>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt/utils.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace trajopt
+{
+TrajArray getTraj(const DblVec& x, const VarArray& vars)
+{
+  TrajArray out(vars.rows(), vars.cols());
+  for (int i = 0; i < vars.rows(); ++i)
+  {
+    for (int j = 0; j < vars.cols(); ++j)
+    {
+      out(i, j) = vars(i, j).value(x);
+    }
+  }
+  return out;
+}
+
+TrajArray getTraj(const DblVec& x, const AffArray& arr)
+{
+  Eigen::MatrixXd out(arr.rows(), arr.cols());
+  for (int i = 0; i < arr.rows(); ++i)
+  {
+    for (int j = 0; j < arr.cols(); ++j)
+    {
+      out(i, j) = arr(i, j).value(x);
+    }
+  }
+  return out;
+}
+
+void AddVarArrays(sco::OptProb& prob,
+                  int rows,
+                  const IntVec& cols,
+                  const std::vector<std::string>& name_prefix,
+                  const std::vector<VarArray*>& newvars)
+{
+  size_t n_arr = name_prefix.size();
+  assert(static_cast<unsigned>(n_arr) == newvars.size());
+
+  std::vector<Eigen::MatrixXi> index(n_arr);
+  for (size_t i = 0; i < n_arr; ++i)
+  {
+    newvars[i]->resize(rows, cols[i]);
+    index[i].resize(rows, cols[i]);
+  }
+
+  std::vector<std::string> names;
+  int var_idx = prob.getNumVars();
+  for (int i = 0; i < rows; ++i)
+  {
+    for (size_t k = 0; k < n_arr; ++k)
+    {
+      for (int j = 0; j < cols[k]; ++j)
+      {
+        index[k](i, j) = var_idx;
+        names.push_back((boost::format("%s_%i_%i") % name_prefix[k] % i % j).str());
+        ++var_idx;
+      }
+    }
+  }
+  prob.createVariables(names);  // note that w,r, are both unbounded
+
+  const std::vector<sco::Var>& vars = prob.getVars();
+  for (size_t k = 0; k < n_arr; ++k)
+  {
+    for (int i = 0; i < rows; ++i)
+    {
+      for (int j = 0; j < cols[k]; ++j)
+      {
+        (*newvars[k])(i, j) = vars[static_cast<size_t>(index[k](i, j))];
+      }
+    }
+  }
+}
+
+void AddVarArray(sco::OptProb& prob, int rows, int cols, const std::string& name_prefix, VarArray& newvars)
+{
+  std::vector<VarArray*> arrs(1, &newvars);
+  std::vector<std::string> prefixes(1, name_prefix);
+  std::vector<int> colss(1, cols);
+  AddVarArrays(prob, rows, colss, prefixes, arrs);
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
index 344c2b0c31..5627a8949d 100644
--- a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
@@ -7,7 +7,6 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-<<<<<<< HEAD
 find_package(catkin REQUIRED
     COMPONENTS
       moveit_core
@@ -16,8 +15,9 @@ find_package(catkin REQUIRED
       moveit_ros_planning_interface
       pluginlib
       roscpp
-      rosparam_shortcuts
       trajopt
+      trajopt_sco
+      trajopt_utils
 )
 
 catkin_package(
@@ -46,8 +46,6 @@ include_directories(
 add_library(
   ${PROJECT_NAME}
   src/trajopt_interface.cpp
-  src/problem_description.cpp
-  src/kinematic_terms.cpp
   src/trajopt_planning_context.cpp
 )
 
@@ -63,28 +61,11 @@ set_target_properties(
   VERSION
   "${${PROJECT_NAME}_VERSION}"
 )
-=======
-find_package(catkin REQUIRED COMPONENTS
-  moveit_core
-  roscpp
-  pluginlib
-)
-
-catkin_package(
-  CATKIN_DEPENDS
-    moveit_core
-)
-
-# The following include_directory should have include folder of the new planner.
-include_directories(${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS}
-                    ${TrajOpt_INCLUDE_DIRS})
->>>>>>> TrajOpt Planner (Empty Template) (#1478)
 
 # TrajOpt planning plugin
 add_library(moveit_trajopt_planner_plugin src/trajopt_planner_manager.cpp)
 set_target_properties(moveit_trajopt_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-<<<<<<< HEAD
+
 target_link_libraries(moveit_trajopt_planner_plugin ${PROJECT_NAME} ${catkin_LIBRARIES})
 
 #############
@@ -129,14 +110,4 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
   )
 
-endif()
-=======
-
-install(TARGETS
-  moveit_trajopt_planner_plugin
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-install(FILES trajopt_interface_plugin_description.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
->>>>>>> TrajOpt Planner (Empty Template) (#1478)
+endif()
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt_interface/README.md b/moveit_planners/trajopt/trajopt_interface/README.md
index 98824eadb2..84e0ce1d44 100644
--- a/moveit_planners/trajopt/trajopt_interface/README.md
+++ b/moveit_planners/trajopt/trajopt_interface/README.md
@@ -1 +1 @@
-As of August 2019, this is a work in progress towards adding trajopt motion planning algorithm to MoveIt as a planner plugin.
\ No newline at end of file
+As of August 2019, this is a work in progress towards adding trajopt motion planning algorithm to MoveIt as a planner plugin.
diff --git a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
index 74432fa83c..ba1a2dd5c3 100644
--- a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
+++ b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_interface.h
@@ -36,9 +36,11 @@
 #pragma once
 
 #include <ros/ros.h>
-#include <trajopt_sco/sco_common.hpp>
+
 #include <moveit/planning_interface/planning_interface.h>
-#include "problem_description.h"
+
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt/problem_description.h>
 
 namespace trajopt_interface
 {
@@ -61,15 +63,15 @@ class TrajOptInterface
   /** @brief Configure everything using the param server */
   void setTrajOptParams(sco::BasicTrustRegionSQPParameters& param);
   void setDefaultTrajOPtParams();
-  void setProblemInfoParam(ProblemInfo& problem_info);
-  void setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name);
+  void setProblemInfoParam(trajopt::ProblemInfo& problem_info);
+  void setJointPoseTermInfoParams(trajopt::JointPoseTermInfoPtr& jp, std::string name);
   trajopt::DblVec extractStartJointValues(const planning_interface::MotionPlanRequest& req,
                                           const std::vector<std::string>& group_joint_names);
 
   ros::NodeHandle nh_;  /// The ROS node handle
   sco::BasicTrustRegionSQPParameters params_;
   std::vector<sco::Optimizer::Callback> optimizer_callbacks_;
-  TrajOptProblemPtr trajopt_problem_;
+  trajopt::TrajOptProblemPtr trajopt_problem_;
   std::string name_;
 };
 
diff --git a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
index 12676f57e7..9c3d6601e4 100644
--- a/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
+++ b/moveit_planners/trajopt/trajopt_interface/include/trajopt_interface/trajopt_planning_context.h
@@ -2,7 +2,7 @@
 
 #include <moveit/planning_interface/planning_interface.h>
 
-#include <trajopt_interface/problem_description.h>
+#include <trajopt/problem_description.h>
 #include <trajopt_interface/trajopt_interface.h>
 
 namespace trajopt_interface
diff --git a/moveit_planners/trajopt/trajopt_interface/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
index 050d71b5d4..d12e387533 100644
--- a/moveit_planners/trajopt/trajopt_interface/package.xml
+++ b/moveit_planners/trajopt/trajopt_interface/package.xml
@@ -1,6 +1,7 @@
 <package format="2">
   <name>moveit_planners_trajopt</name>
   <version>1.0.1</version>
+
   <description>TrajOpt planning plugin, an optimization based motion planner </description>
 
   <author email="omid.github@gmail.com">Omid Heidari</author>
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index 4f76c1add2..1fa526b385 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -42,11 +42,10 @@
 #include <trajopt_sco/sco_common.hpp>
 #include <trajopt_sco/optimizers.hpp>
 #include <trajopt_sco/solver_interface.hpp>
-
+#include <trajopt/problem_description.h>
 #include <trajopt/trajectory_costs.hpp>
 
 #include <ros/ros.h>
-#include <rosparam_shortcuts/rosparam_shortcuts.h>
 
 #include <limits>
 #include <vector>
@@ -54,13 +53,12 @@
 #include <unordered_map>
 
 #include "trajopt_interface/trajopt_interface.h"
-#include "trajopt_interface/problem_description.h"
 
 namespace trajopt_interface
 {
 TrajOptInterface::TrajOptInterface(const ros::NodeHandle& nh) : nh_(nh), name_("TrajOptInterface")
 {
-  trajopt_problem_ = TrajOptProblemPtr(new TrajOptProblem);
+  trajopt_problem_ = trajopt::TrajOptProblemPtr(new trajopt::TrajOptProblem);
   setDefaultTrajOPtParams();
 
   // TODO: callbacks should be defined by the user
@@ -87,11 +85,13 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   bool robot_model_ok = static_cast<bool>(robot_model);
   if (!robot_model_ok)
     ROS_ERROR_STREAM_NAMED(name_, "robot model is not loaded properly");
+
   robot_state::RobotStatePtr current_state(new robot_state::RobotState(robot_model));
   *current_state = planning_scene->getCurrentState();
   const robot_state::JointModelGroup* joint_model_group = current_state->getJointModelGroup(req.group_name);
   if (joint_model_group == nullptr)
     ROS_ERROR_STREAM_NAMED(name_, "joint model group is empty");
+
   std::vector<std::string> group_joint_names = joint_model_group->getActiveJointModelNames();
   int dof = group_joint_names.size();
   std::vector<double> current_joint_values;
@@ -117,7 +117,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   }
 
   ROS_INFO(" ======================================= Create ProblemInfo");
-  ProblemInfo problem_info(planning_scene, req.group_name);
+  trajopt::ProblemInfo problem_info(planning_scene, req.group_name);
 
   setProblemInfoParam(problem_info);
 
@@ -131,11 +131,11 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
     current_joint_values_eigen(joint_index) = current_joint_values[joint_index];
   }
 
-  if (problem_info.init_info.type == InitInfo::JOINT_INTERPOLATED)
+  if (problem_info.init_info.type == trajopt::InitInfo::JOINT_INTERPOLATED)
   {
     problem_info.init_info.data = current_joint_values_eigen;
   }
-  else if (problem_info.init_info.type == InitInfo::GIVEN_TRAJ)
+  else if (problem_info.init_info.type == trajopt::InitInfo::GIVEN_TRAJ)
   {
     problem_info.init_info.data = current_joint_values_eigen.transpose().replicate(problem_info.basic_info.n_steps, 1);
   }
@@ -151,7 +151,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   ROS_INFO(" ======================================= Cartesian Constraints");
   if (!req.goal_constraints[0].position_constraints.empty() && !req.goal_constraints[0].orientation_constraints.empty())
   {
-    CartPoseTermInfoPtr cart_goal_pos(new CartPoseTermInfo);
+    trajopt::CartPoseTermInfoPtr cart_goal_pos(new trajopt::CartPoseTermInfo);
 
     // TODO: Feed cart_goal_pos with request information and the needed param to the setup.yaml file
     // TODO: Multiple Cartesian constraints
@@ -177,7 +177,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   ROS_INFO(" ======================================= Constraints from request goal_constraints");
   for (auto goal_cnt : req.goal_constraints)
   {
-    JointPoseTermInfoPtr joint_pos_term(new JointPoseTermInfo);
+    trajopt::JointPoseTermInfoPtr joint_pos_term(new trajopt::JointPoseTermInfo);
     // When using MotionPlanning Display in RViz, the created request has no name for the constriant
     setJointPoseTermInfoParams(joint_pos_term, (goal_cnt.name != "") ? goal_cnt.name : "goal_tmp");
 
@@ -192,7 +192,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= Constraints from request start_state");
   // add the start pos from request as a constraint
-  JointPoseTermInfoPtr joint_start_pos(new JointPoseTermInfo);
+  trajopt::JointPoseTermInfoPtr joint_start_pos(new trajopt::JointPoseTermInfo);
 
   joint_start_pos->targets = start_joint_values;
   setJointPoseTermInfoParams(joint_start_pos, "start_pos");
@@ -200,14 +200,14 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= Velocity Constraints, hard-coded");
   // TODO: should be defined by user, its parametes should be added to setup.yaml
-  JointVelTermInfoPtr joint_vel(new JointVelTermInfo);
+  trajopt::JointVelTermInfoPtr joint_vel(new trajopt::JointVelTermInfo);
 
   joint_vel->coeffs = std::vector<double>(dof, 5.0);
   joint_vel->targets = std::vector<double>(dof, 0.0);
   joint_vel->first_step = 0;
   joint_vel->last_step = problem_info.basic_info.n_steps - 1;
   joint_vel->name = "joint_vel";
-  joint_vel->term_type = trajopt_interface::TT_COST;
+  joint_vel->term_type = trajopt::TT_COST;
   problem_info.cost_infos.push_back(joint_vel);
 
   ROS_INFO(" ======================================= Visibility Constraints");
@@ -239,15 +239,15 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   std::string problem_info_type;
   switch (problem_info.init_info.type)
   {
-    case InitInfo::STATIONARY:
-      problem_info_type = "STATIONARY";
-      break;
-    case InitInfo::JOINT_INTERPOLATED:
-      problem_info_type = "JOINT_INTERPOLATED";
-      break;
-    case InitInfo::GIVEN_TRAJ:
-      problem_info_type = "GIVEN_TRAJ";
-      break;
+  case trajopt::InitInfo::STATIONARY:
+    problem_info_type = "STATIONARY";
+    break;
+  case trajopt::InitInfo::JOINT_INTERPOLATED:
+    problem_info_type = "JOINT_INTERPOLATED";
+    break;
+  case trajopt::InitInfo::GIVEN_TRAJ:
+    problem_info_type = "GIVEN_TRAJ";
+    break;
   }
   ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.type: " << problem_info_type);
   ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.dt: " << problem_info.init_info.dt);
@@ -266,6 +266,7 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   // Add all callbacks
   for (const sco::Optimizer::Callback& callback : optimizer_callbacks_)
+
   {
     opt.addCallback(callback);
   }
@@ -366,7 +367,7 @@ void TrajOptInterface::setTrajOptParams(sco::BasicTrustRegionSQPParameters& para
   nh_.param("trajopt_param/trust_box_size", params.trust_box_size, 1e-1);
 }
 
-void TrajOptInterface::setProblemInfoParam(ProblemInfo& problem_info)
+void TrajOptInterface::setProblemInfoParam(trajopt::ProblemInfo& problem_info)
 {
   nh_.param("problem_info/basic_info/n_steps", problem_info.basic_info.n_steps, 20);
   nh_.param("problem_info/basic_info/dt_upper_lim", problem_info.basic_info.dt_upper_lim, 2.0);
@@ -400,18 +401,18 @@ void TrajOptInterface::setProblemInfoParam(ProblemInfo& problem_info)
   switch (type_index)
   {
     case 1:
-      problem_info.init_info.type = InitInfo::STATIONARY;
+      problem_info.init_info.type = trajopt::InitInfo::STATIONARY;
       break;
     case 2:
-      problem_info.init_info.type = InitInfo::JOINT_INTERPOLATED;
+      problem_info.init_info.type = trajopt::InitInfo::JOINT_INTERPOLATED;
       break;
     case 3:
-      problem_info.init_info.type = InitInfo::GIVEN_TRAJ;
+      problem_info.init_info.type = trajopt::InitInfo::GIVEN_TRAJ;
       break;
   }
 }
 
-void TrajOptInterface::setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std::string name)
+void TrajOptInterface::setJointPoseTermInfoParams(trajopt::JointPoseTermInfoPtr& jp, std::string name)
 {
   int term_type_index;
   std::string term_type_address = "joint_pos_term_info/" + name + "/term_type";
@@ -420,13 +421,13 @@ void TrajOptInterface::setJointPoseTermInfoParams(JointPoseTermInfoPtr& jp, std:
   switch (term_type_index)
   {
     case 1:
-      jp->term_type = TT_COST;
+      jp->term_type = trajopt::TT_COST;
       break;
     case 2:
-      jp->term_type = TT_CNT;
+      jp->term_type = trajopt::TT_CNT;
       break;
     case 3:
-      jp->term_type = TT_USE_TIME;
+      jp->term_type = trajopt::TT_USE_TIME;
       break;
   }
 
diff --git a/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a b/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux32.a
new file mode 100644
index 0000000000000000000000000000000000000000..52720f64e7eeb41975d20ba6b10060e380e6fc8b
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diff --git a/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux64.a b/moveit_planners/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux64.a
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
new file mode 100644
index 0000000000..037c11ae27
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -0,0 +1,138 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(trajopt_sco)
+
+add_compile_options(-std=c++11 -Wall -Wextra)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
+find_package(catkin REQUIRED COMPONENTS trajopt_utils)
+find_package(GUROBI QUIET)
+find_package(osqp QUIET)
+find_package(qpOASES QUIET)
+find_package(Eigen3 REQUIRED)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(JSONCPP jsoncpp)
+
+set(SCO_SOURCE_FILES
+    src/solver_interface.cpp
+    src/solver_utils.cpp
+    src/modeling.cpp
+    src/expr_ops.cpp
+    src/expr_vec_ops.cpp
+    src/optimizers.cpp
+    src/modeling_utils.cpp
+    src/num_diff.cpp
+)
+
+if (NOT APPLE)
+  set (HAVE_BPMPD TRUE)
+endif()
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+    ${EIGEN3_INCLUDE_DIRS}
+  LIBRARIES
+    ${PROJECT_NAME}
+    ${JSONCPP_LIBRARIES}
+  CATKIN_DEPENDS trajopt_utils
+  DEPENDS
+    EIGEN3
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  SYSTEM ${EIGEN3_INCLUDE_DIRS}
+  SYSTEM ${JSONCPP_INCLUDE_DIRS}
+)
+
+if (HAVE_BPMPD)
+  add_executable(bpmpd_caller src/bpmpd_caller.cpp)
+
+  if( CMAKE_SIZEOF_VOID_P EQUAL 8 ) # 64 bits
+        set(BPMPD_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/3rdpartylib/bpmpd_linux64.a")
+  else()
+        set(BPMPD_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/3rdpartylib/bpmpd_linux32.a")
+  endif()
+
+  target_link_libraries(bpmpd_caller ${BPMPD_LIBRARY} -static)
+  target_compile_options(bpmpd_caller PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+
+  list(APPEND SCO_SOURCE_FILES src/bpmpd_interface.cpp)
+  set_property(SOURCE src/bpmpd_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS BPMPD_CALLER="\\\"${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/bpmpd_caller\\\"")
+
+  #TODO: Levi check if this is correct.
+  set(BPMPD_WORKING_DIR "${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/")
+  set_property(SOURCE src/bpmpd_caller.cpp APPEND PROPERTY COMPILE_DEFINITIONS BPMPD_WORKING_DIR="${BPMPD_WORKING_DIR}")
+  file(COPY src/bpmpd.par DESTINATION ${BPMPD_WORKING_DIR})
+
+  set_property(SOURCE src/solver_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS HAVE_BPMPD)
+endif()
+
+if (GUROBI_FOUND)
+  include_directories(${GUROBI_INCLUDE_DIR})
+  set_property(SOURCE src/solver_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS HAVE_GUROBI)
+  list(APPEND SCO_SOURCE_FILES src/gurobi_interface.cpp)
+endif(GUROBI_FOUND)
+
+if (osqp_FOUND)
+  set_property(SOURCE src/solver_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS HAVE_OSQP)
+  list(APPEND SCO_SOURCE_FILES src/osqp_interface.cpp)
+endif()
+
+if (qpOASES_FOUND)
+  include_directories(${qpOASES_INCLUDE_DIRS})
+  set_property(SOURCE src/solver_interface.cpp APPEND PROPERTY COMPILE_DEFINITIONS HAVE_QPOASES)
+  list(APPEND SCO_SOURCE_FILES src/qpoases_interface.cpp)
+endif()
+
+add_library(${PROJECT_NAME} ${SCO_SOURCE_FILES})
+
+set (SCO_LINK_LIBS ${catkin_LIBRARIES} ${CMAKE_DL_LIBS})
+if (GUROBI_FOUND)
+  list(APPEND SCO_LINK_LIBS ${GUROBI_LIBRARIES})
+endif()
+if (HAVE_BPMPD)
+  list(APPEND SCO_LINK_LIBS ${BPMPD_LIBRARY})
+endif()
+if (osqp_FOUND)
+  target_link_libraries(${PROJECT_NAME} PRIVATE osqp::osqpstatic)
+endif()
+if (qpOASES_FOUND)
+  target_link_libraries(${PROJECT_NAME} PRIVATE ${qpOASES_LIBRARIES})
+endif()
+
+target_link_libraries(${PROJECT_NAME} PRIVATE ${JSONCPP_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${SCO_LINK_LIBS})
+target_compile_options(${PROJECT_NAME} PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+
+# Mark executables and/or libraries for installation
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+  PATTERN ".svn" EXCLUDE
+ )
+
+if (CATKIN_ENABLE_TESTING)
+  set(SCO_TEST_SOURCE
+    test/unit.cpp
+    test/small-problems-unit.cpp
+    test/solver-interface-unit.cpp
+    test/solver-utils-unit.cpp
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test ${SCO_TEST_SOURCE})
+  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+  if (osqp_FOUND)
+    target_link_libraries(${PROJECT_NAME}-test osqp::osqpstatic)
+  endif()
+endif()
diff --git a/moveit_planners/trajopt/trajopt_sco/LICENSE b/moveit_planners/trajopt/trajopt_sco/LICENSE
new file mode 100644
index 0000000000..9103917b0f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/LICENSE
@@ -0,0 +1,11 @@
+Copyright (c) 2013, John Schulman
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+http://opensource.org/licenses/BSD-2-Clause
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindGUROBI.cmake b/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindGUROBI.cmake
new file mode 100644
index 0000000000..5a0b849f15
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindGUROBI.cmake
@@ -0,0 +1,43 @@
+# - Try to find GUROBI
+#
+# This modules reads hints about search locations from the following
+# environment variables:
+# GUROBI_HOME
+# 
+# e.g. GUROBI_HOME=/opt/gurobobi810/linux64
+#
+# The module will define:
+# GUROBI_FOUND - If we found Gurobi in the system
+# GUROBI_INCLUDE_DIR - Gurobi include directories
+# GUROBI_LIBRARIES - libraries needed to use Gurobi
+#
+# This module will NOT enforce a specific GUROBI version, rather it will
+# only work with latest GUROBI version (8.1.0)
+
+find_path(GUROBI_INCLUDE_DIR NAMES gurobi_c++.h
+          HINTS
+          ENV GUROBI_HOME
+          PATH_SUFFIXES include
+          )
+
+find_library(GUROBI_LIBRARY NAMES gurobi81
+             HINTS
+             ENV GUROBI_HOME
+             PATH_SUFFIXES lib
+             )
+
+find_library(GUROBI_CXX_LIBRARY NAMES gurobi_c++
+             HINTS
+             ENV GUROBI_HOME
+             PATH_SUFFIXES lib
+             )
+
+set(GUROBI_LIBRARIES  ${GUROBI_LIBRARY} ${GUROBI_CXX_LIBRARY})
+
+include(FindPackageHandleStandardArgs)
+# handle the QUIETLY and REQUIRED arguments and set GUROBI_FOUND to TRUE
+# if all listed variables are TRUE
+find_package_handle_standard_args(GUROBI  DEFAULT_MSG
+                                  GUROBI_LIBRARY GUROBI_CXX_LIBRARY GUROBI_INCLUDE_DIR)
+
+mark_as_advanced(GUROBI_INCLUDE_DIR GUROBI_LIBRARY GUROBI_CXX_LIBRARY GUROBI_LIBRARIES)
diff --git a/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindqpOASES.cmake b/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindqpOASES.cmake
new file mode 100644
index 0000000000..457824faf3
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/cmake/Modules/FindqpOASES.cmake
@@ -0,0 +1,51 @@
+#.rst:
+# FindqpOASES
+# -----------
+#
+# Try to find the qpOASES library.
+# Once done this will define the following variables::
+#
+#  qpOASES_FOUND         - System has qpOASES
+#  qpOASES_INCLUDE_DIRS  - qpOASES include directory
+#  qpOASES_LIBRARIES     - qpOASES libraries
+#
+# qpOASES does not have an "install" step, and the includes are in the source
+# tree, while the libraries are in the build tree.
+# Therefore the environment and cmake variables `qpOASES_SOURCE_DIR` and
+# `qpOASES_BINARY_DIR` will be used to locate the includes and libraries.
+
+#=============================================================================
+# Copyright 2014 iCub Facility, Istituto Italiano di Tecnologia
+#   Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it>
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of YCM, substitute the full
+#  License text for the above reference.)
+
+
+include(FindPackageHandleStandardArgs)
+
+find_path(qpOASES_INCLUDEDIR
+          NAMES qpOASES.hpp
+          HINTS "${qpOASES_SOURCE_DIR}"
+                ENV qpOASES_SOURCE_DIR
+          PATH_SUFFIXES include)
+find_library(qpOASES_LIB
+             NAMES qpOASES
+             HINTS "${qpOASES_BINARY_DIR}"
+                   ENV qpOASES_BINARY_DIR
+             PATH_SUFFIXES lib
+                           libs)
+
+set(qpOASES_INCLUDE_DIRS ${qpOASES_INCLUDEDIR})
+set(qpOASES_LIBRARIES ${qpOASES_LIB})
+
+find_package_handle_standard_args(qpOASES DEFAULT_MSG qpOASES_LIBRARIES
+                                                      qpOASES_INCLUDE_DIRS)
+set(qpOASES_FOUND ${QPOASES_FOUND})
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_interface.hpp
new file mode 100644
index 0000000000..e0516e880d
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_interface.hpp
@@ -0,0 +1,40 @@
+#pragma once
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+class BPMPDModel : public Model
+{
+public:
+  VarVector m_vars;
+  CntVector m_cnts;
+  AffExprVector m_cntExprs;
+  ConstraintTypeVector m_cntTypes;
+  DblVec m_soln;
+  DblVec m_lbs, m_ubs;
+
+  QuadExpr m_objective;
+
+  int m_pipeIn, m_pipeOut, m_pid;
+
+  BPMPDModel();
+  ~BPMPDModel() override;
+
+  Var addVar(const std::string& name) override;
+  Cnt addEqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const QuadExpr&, const std::string& name) override;
+  void removeVars(const VarVector& vars) override;
+  void removeCnts(const CntVector& cnts) override;
+
+  void update() override;
+  void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) override;
+  DblVec getVarValues(const VarVector& vars) const override;
+  virtual CvxOptStatus optimize() override;
+  virtual void setObjective(const AffExpr&) override;
+  virtual void setObjective(const QuadExpr&) override;
+  virtual void writeToFile(const std::string& fname) override;
+  virtual VarVector getVars() const override;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
new file mode 100644
index 0000000000..f2e6d4a0e9
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
@@ -0,0 +1,168 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <string>
+#include <vector>
+#include <assert.h>
+#include <iostream>
+#include <stdlib.h>
+#include <unistd.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace bpmpd_io
+{
+enum SerMode
+{
+  DESER,
+  SER
+};
+
+template <typename T>
+void ser(int fp, T& x, SerMode mode)
+{
+  switch (mode)
+  {
+    case SER:
+    {
+      T xcopy = x;
+      long n = write(fp, &xcopy, sizeof(T));
+      assert(n == sizeof(T));
+      break;
+    }
+    case DESER:
+    {
+      long n = read(fp, &x, sizeof(T));
+      assert(n == sizeof(T));
+      break;
+    }
+  }
+}
+
+template <typename T>
+void ser(int fp, std::vector<T>& x, SerMode mode)
+{
+  unsigned long size = x.size();
+  ser(fp, size, mode);
+  switch (mode)
+  {
+    case SER:
+    {
+      long n = write(fp, x.data(), sizeof(T) * size);
+      assert(static_cast<unsigned long>(n) == sizeof(T) * size);
+      break;
+    }
+    case DESER:
+    {
+      x.resize(size);
+      long n = read(fp, x.data(), sizeof(T) * size);
+      assert(static_cast<unsigned>(n) == sizeof(T) * size);
+      break;
+    }
+  }
+}
+
+struct bpmpd_input
+{
+  int m, n, nz, qn, qnz;
+  std::vector<int> acolcnt, acolidx;
+  std::vector<double> acolnzs;
+  std::vector<int> qcolcnt, qcolidx;
+  std::vector<double> qcolnzs;
+  std::vector<double> rhs, obj, lbound, ubound;
+
+  bpmpd_input() {}
+  bpmpd_input(int m,
+              int n,
+              int nz,
+              int qn,
+              int qnz,
+              const std::vector<int>& acolcnt,
+              const std::vector<int>& acolidx,
+              const std::vector<double>& acolnzs,
+              const std::vector<int>& qcolcnt,
+              const std::vector<int>& qcolidx,
+              const std::vector<double>& qcolnzs,
+              const std::vector<double>& rhs,
+              const std::vector<double>& obj,
+              const std::vector<double>& lbound,
+              const std::vector<double>& ubound)
+    : m(m)
+    , n(n)
+    , nz(nz)
+    , qn(qn)
+    , qnz(qnz)
+    , acolcnt(acolcnt)
+    , acolidx(acolidx)
+    , acolnzs(acolnzs)
+    , qcolcnt(qcolcnt)
+    , qcolidx(qcolidx)
+    , qcolnzs(qcolnzs)
+    , rhs(rhs)
+    , obj(obj)
+    , lbound(lbound)
+    , ubound(ubound)
+  {
+  }
+};
+
+const char EXIT_CHAR = 123;
+const char CHECK_CHAR = 111;
+
+void ser(int fp, bpmpd_input& bi, SerMode mode)
+{
+  char scorrect = 'z', s = (mode == SER) ? scorrect : 0;
+  ser(fp, s, mode);
+  if (s == EXIT_CHAR)
+  {
+    exit(0);
+  }
+
+  ser(fp, bi.m, mode);
+  ser(fp, bi.n, mode);
+  ser(fp, bi.nz, mode);
+  ser(fp, bi.qn, mode);
+  ser(fp, bi.qnz, mode);
+  ser(fp, bi.acolcnt, mode);
+  ser(fp, bi.acolidx, mode);
+  ser(fp, bi.acolnzs, mode);
+  ser(fp, bi.qcolcnt, mode);
+  ser(fp, bi.qcolidx, mode);
+  ser(fp, bi.qcolnzs, mode);
+  ser(fp, bi.rhs, mode);
+  ser(fp, bi.obj, mode);
+  ser(fp, bi.lbound, mode);
+  ser(fp, bi.ubound, mode);
+}
+
+struct bpmpd_output
+{
+  std::vector<double> primal, dual;
+  std::vector<int> status;
+  int code;
+  double opt;
+  bpmpd_output() {}
+  bpmpd_output(const std::vector<double>& primal,
+               const std::vector<double>& dual,
+               const std::vector<int>& status,
+               int code,
+               double opt)
+    : primal(primal), dual(dual), status(status), code(code), opt(opt)
+  {
+  }
+};
+
+void ser(int fp, bpmpd_output& bo, SerMode mode)
+{
+  char scorrect = CHECK_CHAR, s = (mode == SER) ? scorrect : 0;
+  ser(fp, s, mode);
+  if (s == EXIT_CHAR)
+  {
+    exit(0);
+  }
+  ser(fp, bo.primal, mode);
+  ser(fp, bo.dual, mode);
+  ser(fp, bo.status, mode);
+  ser(fp, bo.code, mode);
+  ser(fp, bo.opt, mode);
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
new file mode 100644
index 0000000000..6878b8beb0
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
@@ -0,0 +1,40 @@
+#pragma once
+#include <trajopt_sco/expr_ops.hpp>
+
+namespace sco
+{
+inline AffExpr operator+(const Var& x, double y) { return exprAdd(AffExpr(x), y); }
+inline AffExpr operator+(const AffExpr& x, double y) { return exprAdd(x, y); }
+inline QuadExpr operator+(const QuadExpr& x, double y) { return exprAdd(x, y); }
+inline AffExpr operator+(const Var& x, const Var& y) { return exprAdd(AffExpr(x), y); }
+inline AffExpr operator+(const AffExpr& x, const Var& y) { return exprAdd(x, y); }
+inline QuadExpr operator+(const QuadExpr& x, const Var& y) { return exprAdd(x, y); }
+inline AffExpr operator+(const Var& x, const AffExpr& y) { return exprAdd(AffExpr(x), y); }
+inline AffExpr operator+(const AffExpr& x, const AffExpr& y) { return exprAdd(x, y); }
+inline QuadExpr operator+(const QuadExpr& x, const AffExpr& y) { return exprAdd(x, y); }
+inline QuadExpr operator+(const Var& x, const QuadExpr& y) { return exprAdd(QuadExpr(x), y); }
+inline QuadExpr operator+(const AffExpr& x, const QuadExpr& y) { return exprAdd(QuadExpr(x), y); }
+inline QuadExpr operator+(const QuadExpr& x, const QuadExpr& y) { return exprAdd(x, y); }
+inline AffExpr operator-(const Var& x, double y) { return exprSub(AffExpr(x), y); }
+inline AffExpr operator-(const AffExpr& x, double y) { return exprSub(x, y); }
+inline QuadExpr operator-(const QuadExpr& x, double y) { return exprSub(x, y); }
+inline AffExpr operator-(const Var& x, const Var& y) { return exprSub(AffExpr(x), y); }
+inline AffExpr operator-(const AffExpr& x, const Var& y) { return exprSub(x, y); }
+inline QuadExpr operator-(const QuadExpr& x, const Var& y) { return exprSub(x, y); }
+inline AffExpr operator-(const Var& x, const AffExpr& y) { return exprSub(AffExpr(x), y); }
+inline AffExpr operator-(const AffExpr& x, const AffExpr& y) { return exprSub(x, y); }
+inline QuadExpr operator-(const QuadExpr& x, const AffExpr& y) { return exprSub(x, y); }
+inline QuadExpr operator-(const Var& x, const QuadExpr& y) { return exprSub(QuadExpr(x), y); }
+inline QuadExpr operator-(const AffExpr& x, const QuadExpr& y) { return exprSub(QuadExpr(x), y); }
+inline QuadExpr operator-(const QuadExpr& x, const QuadExpr& y) { return exprSub(x, y); }
+///////////////
+
+inline AffExpr operator*(double a, const Var& b) { return exprMult(b, a); }
+inline AffExpr operator*(double a, const AffExpr& b) { return exprMult(b, a); }
+inline QuadExpr operator*(double a, const QuadExpr& b) { return exprMult(b, a); }
+inline AffExpr operator*(const Var& a, double b) { return exprMult(a, b); }
+inline AffExpr operator*(const AffExpr& a, double b) { return exprMult(a, b); }
+inline QuadExpr operator*(const QuadExpr& a, double b) { return exprMult(a, b); }
+inline AffExpr operator-(const Var& a) { return exprMult(a, -1); }
+inline AffExpr operator-(const AffExpr& a) { return exprMult(a, -1); }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
new file mode 100644
index 0000000000..ac4facc9c1
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
@@ -0,0 +1,163 @@
+#pragma once
+#include <trajopt_sco/sco_fwd.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace sco
+{
+////// In-place operations ///////
+
+// multiplication
+inline void exprScale(AffExpr& v, double a)
+{
+  v.constant *= a;
+  for (unsigned i = 0; i < v.coeffs.size(); ++i)
+    v.coeffs[i] *= a;
+}
+inline void exprScale(QuadExpr& q, double a)
+{
+  exprScale(q.affexpr, a);
+  for (unsigned i = 0; i < q.coeffs.size(); ++i)
+    q.coeffs[i] *= a;
+}
+
+// addition
+inline void exprInc(AffExpr& a, double b) { a.constant += b; }
+inline void exprInc(AffExpr& a, const AffExpr& b)
+{
+  a.constant += b.constant;
+  a.coeffs.insert(a.coeffs.end(), b.coeffs.begin(), b.coeffs.end());
+  a.vars.insert(a.vars.end(), b.vars.begin(), b.vars.end());
+}
+inline void exprInc(AffExpr& a, const Var& b) { exprInc(a, AffExpr(b)); }
+inline void exprInc(QuadExpr& a, double b) { exprInc(a.affexpr, b); }
+inline void exprInc(QuadExpr& a, const Var& b) { exprInc(a.affexpr, AffExpr(b)); }
+inline void exprInc(QuadExpr& a, const AffExpr& b) { exprInc(a.affexpr, b); }
+inline void exprInc(QuadExpr& a, const QuadExpr& b)
+{
+  exprInc(a.affexpr, b.affexpr);
+  a.coeffs.insert(a.coeffs.end(), b.coeffs.begin(), b.coeffs.end());
+  a.vars1.insert(a.vars1.end(), b.vars1.begin(), b.vars1.end());
+  a.vars2.insert(a.vars2.end(), b.vars2.begin(), b.vars2.end());
+}
+
+// subtraction
+inline void exprDec(AffExpr& a, double b) { a.constant -= b; }
+inline void exprDec(AffExpr& a, AffExpr b)
+{
+  exprScale(b, -1);
+  exprInc(a, b);
+}
+inline void exprDec(AffExpr& a, const Var& b) { exprDec(a, AffExpr(b)); }
+inline void exprDec(QuadExpr& a, double b) { exprDec(a.affexpr, b); }
+inline void exprDec(QuadExpr& a, const Var& b) { exprDec(a.affexpr, b); }
+inline void exprDec(QuadExpr& a, const AffExpr& b) { exprDec(a.affexpr, b); }
+inline void exprDec(QuadExpr& a, QuadExpr b)
+{
+  exprScale(b, -1);
+  exprInc(a, b);
+}
+
+/////////////////////
+
+inline AffExpr exprMult(const Var& a, double b)
+{
+  AffExpr c(a);
+  exprScale(c, b);
+  return c;
+}
+// multiplication
+inline AffExpr exprMult(AffExpr a, double b)
+{
+  exprScale(a, b);
+  return a;
+}
+inline QuadExpr exprMult(QuadExpr a, double b)
+{
+  exprScale(a, b);
+  return a;
+}
+
+inline AffExpr exprAdd(AffExpr a, double b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline AffExpr exprAdd(AffExpr a, const Var& b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline AffExpr exprAdd(AffExpr a, const AffExpr& b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline QuadExpr exprAdd(QuadExpr a, double b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline QuadExpr exprAdd(QuadExpr a, const Var& b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline QuadExpr exprAdd(QuadExpr a, const AffExpr& b)
+{
+  exprInc(a, b);
+  return a;
+}
+inline QuadExpr exprAdd(QuadExpr a, const QuadExpr& b)
+{
+  exprInc(a, b);
+  return a;
+}
+
+inline AffExpr exprSub(AffExpr a, double b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline AffExpr exprSub(AffExpr a, const Var& b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline AffExpr exprSub(AffExpr a, const AffExpr& b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline QuadExpr exprSub(QuadExpr a, double b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline QuadExpr exprSub(QuadExpr a, const Var& b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline QuadExpr exprSub(QuadExpr a, const AffExpr& b)
+{
+  exprDec(a, b);
+  return a;
+}
+inline QuadExpr exprSub(QuadExpr a, const QuadExpr& b)
+{
+  exprDec(a, b);
+  return a;
+}
+
+//////////////////////
+/**
+ * @brief Multiplies two AffExpr. Does not consider any optimizations for shared variables
+ * @return The QuadExpr result of the multiplication
+ */
+QuadExpr exprMult(const AffExpr&, const AffExpr&);
+
+QuadExpr exprSquare(const Var&);
+QuadExpr exprSquare(const AffExpr&);
+
+AffExpr cleanupAff(const AffExpr&);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_vec_ops.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_vec_ops.hpp
new file mode 100644
index 0000000000..050cea9a95
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_vec_ops.hpp
@@ -0,0 +1,30 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace sco
+{
+#if 0
+Matrix3d leftCrossProdMat(const Vector3d& x);
+Matrix3d rightCrossProdMat(const Vector3d& x);
+
+ExprVector exprMatMult(const MatrixXd& A, const VarVector& x);
+ExprVector exprMatMult(const MatrixXd& A, const ExprVector& x);
+
+ExprVector exprCross(const VectorXd& x, const VarVector& y);
+ExprVector exprCross(const VarVector& x, const VectorXd& y);
+ExprVector exprCross(const VectorXd& x, const ExprVector& y);
+ExprVector exprCross(const ExprVector& x, const VectorXd& y);
+
+#endif
+AffExpr varDot(const Eigen::VectorXd& x, const VarVector& v);
+AffExpr exprDot(const Eigen::VectorXd& x, const AffExprVector& v);
+#if 0
+QuadExpr varNorm2(const VarVector& v);
+QuadExpr exprNorm2(const ExprVector& v);
+#endif
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/gurobi_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/gurobi_interface.hpp
new file mode 100644
index 0000000000..39809169ca
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/gurobi_interface.hpp
@@ -0,0 +1,53 @@
+#pragma once
+#include <trajopt_sco/solver_interface.hpp>
+
+/**
+
+@file gurobi_interface.hpp
+
+Gurobi backend
+
+*/
+
+struct _GRBmodel;
+typedef struct _GRBmodel GRBmodel;
+
+namespace sco
+{
+class GurobiModel : public Model
+{
+public:
+  GRBmodel* m_model;
+  VarVector m_vars;
+  CntVector m_cnts;
+
+  GurobiModel();
+
+  Var addVar(const std::string& name) override;
+  Var addVar(const std::string& name, double lower, double upper) override;
+
+  Cnt addEqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const QuadExpr&, const std::string& name) override;
+
+  void removeVars(const VarVector&) override;
+  void removeCnts(const CntVector&) override;
+
+  void update() override;
+  void setVarBounds(const VarVector&, const DblVec& lower, const DblVec& upper) override;
+  DblVec getVarValues(const VarVector&) const override;
+
+  CvxOptStatus optimize() override;
+  /** Don't use this function, because it adds constraints that aren't tracked
+   */
+  CvxOptStatus optimizeFeasRelax();
+
+  void setObjective(const AffExpr&) override;
+  void setObjective(const QuadExpr&) override;
+  void writeToFile(const std::string& fname) override;
+
+  VarVector getVars() const override;
+
+  ~GurobiModel();
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
new file mode 100644
index 0000000000..2081144679
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
@@ -0,0 +1,239 @@
+#pragma once
+
+/*
+ * Model a non-convex optimization problem by defining Cost and Constraint
+ * objects
+ * which know how to generate a convex approximation
+ *
+ *
+ */
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/sco_fwd.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace sco
+{
+/**
+Stores convex terms in a objective
+For non-quadratic terms like hinge(x) and abs(x), it needs to add auxilliary
+variables and linear constraints to the model
+Note: When this object is deleted, the constraints and variables it added to the
+model are removed
+ */
+class ConvexObjective
+{
+public:
+  ConvexObjective(Model* model) : model_(model) {}
+  void addAffExpr(const AffExpr&);
+  void addQuadExpr(const QuadExpr&);
+  void addHinge(const AffExpr&, double coeff);
+  void addAbs(const AffExpr&, double coeff);
+  void addHinges(const AffExprVector&);
+  void addL1Norm(const AffExprVector&);
+  void addL2Norm(const AffExprVector&);
+  void addMax(const AffExprVector&);
+
+  bool inModel() { return model_ != nullptr; }
+  void addConstraintsToModel();
+  void removeFromModel();
+  double value(const DblVec& x);
+
+  ~ConvexObjective();
+
+  Model* model_;
+  QuadExpr quad_;
+  VarVector vars_;
+  AffExprVector eqs_;
+  AffExprVector ineqs_;
+  CntVector cnts_;
+
+private:
+  ConvexObjective() {}
+  ConvexObjective(ConvexObjective&) {}
+};
+
+/**
+Stores convex inequality constraints and affine equality constraints.
+Actually only affine inequality constraints are currently implemented.
+*/
+class ConvexConstraints
+{
+public:
+  ConvexConstraints(Model* model) : model_(model) {}
+  /** Expression that should == 0 */
+  void addEqCnt(const AffExpr&);
+  /** Expression that should <= 0 */
+  void addIneqCnt(const AffExpr&);
+  void setModel(Model* model)
+  {
+    assert(!inModel());
+    model_ = model;
+  }
+  bool inModel() { return model_ != nullptr; }
+  void addConstraintsToModel();
+  void removeFromModel();
+
+  DblVec violations(const DblVec& x);
+  double violation(const DblVec& x);
+
+  ~ConvexConstraints();
+  AffExprVector eqs_;
+  AffExprVector ineqs_;
+
+private:
+  Model* model_;
+  CntVector cnts_;
+  ConvexConstraints() : model_(nullptr) {}
+  ConvexConstraints(ConvexConstraints&) {}
+};
+
+/**
+Non-convex cost function, which knows how to calculate its convex approximation
+(convexify() method)
+*/
+class Cost
+{
+public:
+  /** Evaluate at solution vector x*/
+  virtual double value(const DblVec&) = 0;
+  /** Convexify at solution vector x*/
+  virtual ConvexObjectivePtr convex(const DblVec& x, Model* model) = 0;
+  /** Get problem variables associated with this cost */
+  virtual VarVector getVars() = 0;
+  std::string name() { return name_; }
+  void setName(const std::string& name) { name_ = name; }
+  Cost() : name_("unnamed") {}
+  Cost(const std::string& name) : name_(name) {}
+  virtual ~Cost() = default;
+
+protected:
+  std::string name_;
+};
+
+/**
+Non-convex vector-valued constraint function, which knows how to calculate its
+convex approximation
+*/
+class Constraint
+{
+public:
+  /** inequality vs equality */
+  virtual ConstraintType type() = 0;
+  /** Evaluate at solution vector x*/
+  virtual DblVec value(const DblVec& x) = 0;
+  /** Convexify at solution vector x*/
+  virtual ConvexConstraintsPtr convex(const DblVec& x, Model* model) = 0;
+  /** Calculate constraint violations (positive part for inequality constraint,
+   * absolute value for inequality constraint)*/
+  DblVec violations(const DblVec& x);
+  /** Sum of violations */
+  double violation(const DblVec& x);
+  /** Get problem variables associated with this constraint */
+  virtual VarVector getVars() = 0;
+  std::string name() { return name_; }
+  void setName(const std::string& name) { name_ = name; }
+  Constraint() : name_("unnamed") {}
+  Constraint(const std::string& name) : name_(name) {}
+  virtual ~Constraint() {}
+protected:
+  std::string name_;
+};
+
+class EqConstraint : public Constraint
+{
+public:
+  ConstraintType type() override { return EQ; }
+  EqConstraint() : Constraint() {}
+  EqConstraint(const std::string& name) : Constraint(name) {}
+};
+
+class IneqConstraint : public Constraint
+{
+public:
+  ConstraintType type() override { return INEQ; }
+  IneqConstraint() : Constraint() {}
+  IneqConstraint(const std::string& name) : Constraint(name) {}
+};
+
+/**
+Non-convex optimization problem
+*/
+class OptProb
+{
+public:
+  OptProb(ModelType convex_solver = ModelType::AUTO_SOLVER);
+  virtual ~OptProb() = default;
+
+  /** create variables with bounds [-INFINITY, INFINITY]  */
+  VarVector createVariables(const std::vector<std::string>& names);
+  /** create variables with bounds [lb[i], ub[i] */
+  VarVector createVariables(const std::vector<std::string>& names, const DblVec& lb, const DblVec& ub);
+  /** set the lower bounds of all the variables */
+  void setLowerBounds(const DblVec& lb);
+  /** set the upper bounds of all the variables */
+  void setUpperBounds(const DblVec& ub);
+  /** set lower bounds of some of the variables */
+  void setLowerBounds(const DblVec& lb, const VarVector& vars);
+  /** set upper bounds of some of the variables */
+  void setUpperBounds(const DblVec& ub, const VarVector& vars);
+  /** Note: in the current implementation, this function just adds the
+   * constraint to the
+   * model. So if you're not careful, you might end up with an infeasible
+   * problem. */
+  void addLinearConstraint(const AffExpr&, ConstraintType type);
+  /** Add nonlinear cost function */
+  void addCost(CostPtr);
+  /** Add nonlinear constraint function */
+  void addConstraint(ConstraintPtr);
+  void addEqConstraint(ConstraintPtr);
+  void addIneqConstraint(ConstraintPtr);
+  /** Find closest point to solution vector x that satisfies linear inequality
+   * constraints */
+  DblVec getCentralFeasiblePoint(const DblVec& x);
+  DblVec getClosestFeasiblePoint(const DblVec& x);
+
+  std::vector<ConstraintPtr> getConstraints() const;
+  const std::vector<CostPtr>& getCosts() { return costs_; }
+  const std::vector<ConstraintPtr>& getIneqConstraints() { return ineqcnts_; }
+  const std::vector<ConstraintPtr>& getEqConstraints() { return eqcnts_; }
+  const DblVec& getLowerBounds() { return lower_bounds_; }
+  const DblVec& getUpperBounds() { return upper_bounds_; }
+  ModelPtr getModel() { return model_; }
+  const VarVector& getVars() { return vars_; }
+  int getNumCosts() { return static_cast<int>(costs_.size()); }
+  int getNumConstraints() { return static_cast<int>(eqcnts_.size() + ineqcnts_.size()); }
+  int getNumVars() { return static_cast<int>(vars_.size()); }
+protected:
+  ModelPtr model_;
+  VarVector vars_;
+  DblVec lower_bounds_;
+  DblVec upper_bounds_;
+  std::vector<CostPtr> costs_;
+  std::vector<ConstraintPtr> eqcnts_;
+  std::vector<ConstraintPtr> ineqcnts_;
+
+  OptProb(OptProb&);
+};
+
+template <typename VecType>
+inline void setVec(DblVec& x, const VarVector& vars, const VecType& vals)
+{
+  assert(vars.size() == vals.size());
+  for (size_t i = 0; i < vars.size(); ++i)
+  {
+    x[static_cast<size_t>(vars[i].var_rep->index)] = vals[i];
+  }
+}
+template <typename OutVecType>
+inline OutVecType getVec1(const DblVec& x, const VarVector& vars)
+{
+  OutVecType out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+    out[i] = x[vars[i].var_rep->index];
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
new file mode 100644
index 0000000000..32e5580629
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
@@ -0,0 +1,108 @@
+#pragma once
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/num_diff.hpp>
+#include <trajopt_sco/sco_common.hpp>
+/**
+@file modeling_utils.hpp
+@brief Build problem from user-defined functions
+Utilities for creating Cost and Constraint objects from functions
+using numerical derivatives or user-defined analytic derivatives.
+ */
+
+namespace sco
+{
+enum PenaltyType
+{
+  SQUARED,
+  ABS,
+  HINGE
+};
+
+/**
+x is the big solution vector of the whole problem. vars are variables that
+index into the vector x
+this function extracts (from x) the values of the variables in vars
+ */
+Eigen::VectorXd getVec(const DblVec& x, const VarVector& vars);
+/**
+Same idea as above, but different output type
+ */
+DblVec getDblVec(const DblVec& x, const VarVector& vars);
+
+AffExpr affFromValGrad(double y, const Eigen::VectorXd& x, const Eigen::VectorXd& dydx, const VarVector& vars);
+
+class CostFromFunc : public Cost
+{
+public:
+  /// supply function, obtain derivative and hessian numerically
+  CostFromFunc(ScalarOfVectorPtr f, const VarVector& vars, const std::string& name, bool full_hessian = false);
+  double value(const DblVec& x) override;
+  ConvexObjectivePtr convex(const DblVec& x, Model* model) override;
+  VarVector getVars() override { return vars_; }
+protected:
+  ScalarOfVectorPtr f_;
+  VarVector vars_;
+  bool full_hessian_;
+  double epsilon_;
+};
+
+class CostFromErrFunc : public Cost
+{
+public:
+  /// supply error function, obtain derivative numerically
+  CostFromErrFunc(VectorOfVectorPtr f,
+                  const VarVector& vars,
+                  const Eigen::VectorXd& coeffs,
+                  PenaltyType pen_type,
+                  const std::string& name);
+  /// supply error function and gradient
+  CostFromErrFunc(VectorOfVectorPtr f,
+                  MatrixOfVectorPtr dfdx,
+                  const VarVector& vars,
+                  const Eigen::VectorXd& coeffs,
+                  PenaltyType pen_type,
+                  const std::string& name);
+  double value(const DblVec& x) override;
+  ConvexObjectivePtr convex(const DblVec& x, Model* model) override;
+  VarVector getVars() override { return vars_; }
+protected:
+  VectorOfVectorPtr f_;
+  MatrixOfVectorPtr dfdx_;
+  VarVector vars_;
+  Eigen::VectorXd coeffs_;
+  PenaltyType pen_type_;
+  double epsilon_;
+};
+
+class ConstraintFromErrFunc : public Constraint
+{
+public:
+  /// supply error function, obtain derivative numerically
+  ConstraintFromErrFunc(VectorOfVectorPtr f,
+                        const VarVector& vars,
+                        const Eigen::VectorXd& coeffs,
+                        ConstraintType type,
+                        const std::string& name);
+  /// supply error function and gradient
+  ConstraintFromErrFunc(VectorOfVectorPtr f,
+                        MatrixOfVectorPtr dfdx,
+                        const VarVector& vars,
+                        const Eigen::VectorXd& coeffs,
+                        ConstraintType type,
+                        const std::string& name);
+  DblVec value(const DblVec& x) override;
+  ConvexConstraintsPtr convex(const DblVec& x, Model* model) override;
+  ConstraintType type() override { return type_; }
+  VarVector getVars() override { return vars_; }
+protected:
+  VectorOfVectorPtr f_;
+  MatrixOfVectorPtr dfdx_;
+  VarVector vars_;
+  Eigen::VectorXd coeffs_;
+  ConstraintType type_;
+  double epsilon_;
+  Eigen::VectorXd scaling_;
+};
+
+std::string AffExprToString(const AffExpr& aff);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
new file mode 100644
index 0000000000..ddcfb07b19
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
@@ -0,0 +1,72 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Dense>
+#include <functional>
+#include <memory>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+/*
+ * Numerical derivatives
+ */
+
+namespace sco
+{
+class ScalarOfVector;
+class VectorOfVector;
+class MatrixOfVector;
+typedef std::shared_ptr<ScalarOfVector> ScalarOfVectorPtr;
+typedef std::shared_ptr<VectorOfVector> VectorOfVectorPtr;
+typedef std::shared_ptr<MatrixOfVector> MatrixOfVectorPtr;
+
+class ScalarOfVector
+{
+public:
+  virtual double operator()(const Eigen::VectorXd& x) const = 0;
+  double call(const Eigen::VectorXd& x) const { return operator()(x); }
+  virtual ~ScalarOfVector() {}
+  typedef std::function<double(Eigen::VectorXd)> func;
+  static ScalarOfVectorPtr construct(const func&);
+  //  typedef VectorXd (*c_func)(const VectorXd&);
+  //  static ScalarOfVectorPtr construct(const c_func&);
+};
+class VectorOfVector
+{
+public:
+  virtual Eigen::VectorXd operator()(const Eigen::VectorXd& x) const = 0;
+  Eigen::VectorXd call(const Eigen::VectorXd& x) const { return operator()(x); }
+  virtual ~VectorOfVector() {}
+  typedef std::function<Eigen::VectorXd(Eigen::VectorXd)> func;
+  static VectorOfVectorPtr construct(const func&);
+  //  typedef VectorXd (*c_func)(const VectorXd&);
+  //  static VectorOfVectorPtr construct(const c_func&);
+};
+class MatrixOfVector
+{
+public:
+  virtual Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const = 0;
+  Eigen::MatrixXd call(const Eigen::VectorXd& x) const { return operator()(x); }
+  virtual ~MatrixOfVector() {}
+  typedef std::function<Eigen::MatrixXd(Eigen::VectorXd)> func;
+  static MatrixOfVectorPtr construct(const func&);
+  //  typedef VectorMatrixXd (*c_func)(const VectorXd&);
+  //  static MatrixOfVectorPtr construct(const c_func&);
+};
+
+Eigen::VectorXd calcForwardNumGrad(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon);
+Eigen::MatrixXd calcForwardNumJac(const VectorOfVector& f, const Eigen::VectorXd& x, double epsilon);
+void calcGradAndDiagHess(const ScalarOfVector& f,
+                         const Eigen::VectorXd& x,
+                         double epsilon,
+                         double& y,
+                         Eigen::VectorXd& grad,
+                         Eigen::VectorXd& hess);
+void calcGradHess(ScalarOfVectorPtr f,
+                  const Eigen::VectorXd& x,
+                  double epsilon,
+                  double& y,
+                  Eigen::VectorXd& grad,
+                  Eigen::MatrixXd& hess);
+VectorOfVectorPtr forwardNumGrad(ScalarOfVectorPtr f, double epsilon);
+MatrixOfVectorPtr forwardNumJac(VectorOfVectorPtr f, double epsilon);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
new file mode 100644
index 0000000000..7aed5bb507
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
@@ -0,0 +1,128 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <functional>
+#include <string>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/modeling.hpp>
+/*
+ * Algorithms for non-convex, constrained optimization
+ */
+
+namespace sco
+{
+enum OptStatus
+{
+  OPT_CONVERGED,
+  OPT_SCO_ITERATION_LIMIT,  // hit iteration limit before convergence
+  OPT_PENALTY_ITERATION_LIMIT,
+  OPT_FAILED,
+  INVALID
+};
+static const char* OptStatus_strings[] = { "CONVERGED",
+                                           "SCO_ITERATION_LIMIT",
+                                           "PENALTY_ITERATION_LIMIT",
+                                           "FAILED",
+                                           "INVALID" };
+inline std::string statusToString(OptStatus status) { return OptStatus_strings[status]; }
+struct OptResults
+{
+  DblVec x;  // solution estimate
+  OptStatus status;
+  double total_cost;
+  DblVec cost_vals;
+  DblVec cnt_viols;
+  int n_func_evals, n_qp_solves;
+  void clear()
+  {
+    x.clear();
+    status = INVALID;
+    cost_vals.clear();
+    cnt_viols.clear();
+    n_func_evals = 0;
+    n_qp_solves = 0;
+  }
+  OptResults() { clear(); }
+};
+std::ostream& operator<<(std::ostream& o, const OptResults& r);
+
+class Optimizer
+{
+  /*
+   * Solves an optimization problem
+   */
+public:
+  virtual ~Optimizer() = default;
+  virtual OptStatus optimize() = 0;
+  virtual void setProblem(OptProbPtr prob) { prob_ = prob; }
+  void initialize(const DblVec& x);
+  DblVec& x() { return results_.x; }
+  OptResults& results() { return results_; }
+  typedef std::function<void(OptProb*, OptResults&)> Callback;
+  void addCallback(const Callback& f);  // called before each iteration
+protected:
+  std::vector<Callback> callbacks_;
+  void callCallbacks();
+  OptProbPtr prob_;
+  OptResults results_;
+};
+
+struct BasicTrustRegionSQPParameters
+{
+  double improve_ratio_threshold;  // minimum ratio true_improve/approx_improve
+                                   // to accept step
+  double min_trust_box_size;       // if trust region gets any smaller, exit and
+                                   // report convergence
+  double min_approx_improve;       // if model improves less than this, exit and
+                                   // report convergence
+  double min_approx_improve_frac;  // if model improves less than this, exit and
+                                   // report convergence
+  double max_iter;                 // The max number of iterations
+  double trust_shrink_ratio;       // if improvement is less than
+  // improve_ratio_threshold, shrink trust region by
+  // this ratio
+  double trust_expand_ratio;  // if improvement is less than
+                              // improve_ratio_threshold, shrink trust region by
+                              // this ratio
+  double cnt_tolerance;       // after convergence of penalty subproblem, if
+  // constraint violation is less than this, we're done
+  double max_merit_coeff_increases;   // number of times that we jack up penalty
+                                      // coefficient
+  double merit_coeff_increase_ratio;  // ratio that we increate coeff each time
+  double max_time;                    // not yet implemented
+  double merit_error_coeff;           // initial penalty coefficient
+  double trust_box_size;              // current size of trust region (component-wise)
+
+  BasicTrustRegionSQPParameters();
+};
+
+class BasicTrustRegionSQP : public Optimizer
+{
+  /*
+   * Alternates between convexifying objectives and constraints and then solving
+   * convex subproblem
+   * Uses a merit function to decide whether or not to accept the step
+   * merit function = objective + merit_err_coeff * | constraint_error |
+   * Note: sometimes the convexified objectives and constraints lead to an
+   * infeasible subproblem
+   * In that case, you should turn them into penalties and solve that problem
+   * (todo: implement penalty-based sqp that gracefully handles infeasible
+   * constraints)
+   */
+public:
+  BasicTrustRegionSQP();
+  BasicTrustRegionSQP(OptProbPtr prob);
+  void setProblem(OptProbPtr prob) override;
+  void setParameters(const BasicTrustRegionSQPParameters& param) { param_ = param; }
+  const BasicTrustRegionSQPParameters& getParameters() const { return param_; }
+  BasicTrustRegionSQPParameters& getParameters() { return param_; }
+  OptStatus optimize() override;
+
+protected:
+  void adjustTrustRegion(double ratio);
+  void setTrustBoxConstraints(const DblVec& x);
+  ModelPtr model_;
+  BasicTrustRegionSQPParameters param_;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/osqp_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
new file mode 100644
index 0000000000..b17f7256a7
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
@@ -0,0 +1,84 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <osqp.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+/**
+ * OSQPModel uses the BSD solver OSQP to solve a linearly constrained QP.
+ * OSQP solves a problem in the form:
+ * ```
+ * min   1/2*x'Px + q'x
+ * s.t.  l <= Ax <= u
+ * ```
+ *
+ * More informations about the solver are available at:
+ * https://osqp.org/docs/
+ */
+class OSQPModel : public Model
+{
+  OSQPSettings osqp_settings_; /**< OSQP Settings */
+                               /** OSQPData. Some fields here (`osp_data_.A` and `osp_data_.P`) are
+                                *  automatically allocated by OSQP, but deallocated by us. */
+  OSQPData osqp_data_;
+  /** OSQP Workspace. Memory here is managed by OSQP */
+  OSQPWorkspace* osqp_workspace_;
+
+  /** Updates OSQP quadratic cost matrix from QuadExpr expression.
+   *  Transforms QuadExpr objective_ into the OSQP CSC matrix P_ */
+  void updateObjective();
+
+  /** Updates qpOASES constraints from AffExpr expression.
+   *  Transforms AffExpr cntr_exprs_ and box bounds lbs_ and ubs_ into the
+   *  OSQP CSC matrix A_, and vectors lbA_ and ubA_ */
+  void updateConstraints();
+
+  /** Creates or updates the solver and its workspace */
+  void createOrUpdateSolver();
+
+  VarVector vars_;                 /**< model variables */
+  CntVector cnts_;                 /**< model's constraints sizes */
+  DblVec lbs_, ubs_;               /**< variables bounds */
+  AffExprVector cnt_exprs_;        /**< constraints expressions */
+  ConstraintTypeVector cnt_types_; /**< constraints types */
+  DblVec solution_;                /**< optimizizer's solution for current model */
+
+  std::vector<c_int> P_row_indices_;     /**< row indices for P, CSC format */
+  std::vector<c_int> P_column_pointers_; /**< column pointers for P, CSC format */
+  DblVec P_csc_data_;                    /**< P values in CSC format */
+  Eigen::VectorXd q_;                    /**< linear part of the objective */
+
+  std::vector<c_int> A_row_indices_;     /**< row indices for constraint matrix, CSC format */
+  std::vector<c_int> A_column_pointers_; /**< column pointers for constraint matrix, CSC format */
+  DblVec A_csc_data_;                    /**< constraint matrix values in CSC format */
+  DblVec l_, u_;                         /**< linear constraints upper and lower limits */
+
+  QuadExpr objective_; /**< objective QuadExpr expression */
+
+public:
+  OSQPModel();
+  virtual ~OSQPModel();
+
+  Var addVar(const std::string& name) override;
+  Cnt addEqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const QuadExpr&, const std::string& name) override;
+  void removeVars(const VarVector& vars) override;
+  void removeCnts(const CntVector& cnts) override;
+
+  void update() override;
+  void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) override;
+  DblVec getVarValues(const VarVector& vars) const override;
+  virtual CvxOptStatus optimize() override;
+  virtual void setObjective(const AffExpr&) override;
+  virtual void setObjective(const QuadExpr&) override;
+  virtual void writeToFile(const std::string& fname) override;
+  virtual VarVector getVars() const override;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/qpoases_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/qpoases_interface.hpp
new file mode 100644
index 0000000000..ddf1ce9153
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/qpoases_interface.hpp
@@ -0,0 +1,95 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <qpOASES.hpp>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+/**
+ * qpOASESModel uses the LGPL solver qpOASES to solve a linearly constrained QP.
+ * qpOASES solves a problem in the form:
+ * ```
+ * min   1/2*x'Hx + x'g
+ * s.t.  lb  <=  x <= ub
+ * lbA <= Ax <= ubA
+ * ```
+ *
+ * More informations about the solver are available at:
+ * https://projects.coin-or.org/qpOASES
+ */
+class qpOASESModel : public Model
+{
+  /** pointer to a qpOASES Sequential Quadratic Problem*/
+  std::shared_ptr<qpOASES::SQProblem> qpoases_problem_;
+  qpOASES::Options qpoases_options_; /**< qpOASES solver options */
+
+  qpOASES::SymSparseMat H_; /**< Quadratic cost matrix */
+  qpOASES::SparseMatrix A_; /**< Constraints matrix */
+
+  /** Updates qpOASES Hessian matrix from QuadExpr expression.
+   *  Transforms QuadExpr objective_ into the qpOASES sparse matrix H_*/
+  void updateObjective();
+
+  /** Updates qpOASES constraints from AffExpr expression.
+   *  Transforms AffExpr cntr_exprs_ into the qpOASES sparse matrix A_, and
+   *  vectors lbA_ and ubA_ */
+  void updateConstraints();
+
+  /**
+   * Instantiates a new qpOASES problem if it has not been instantiated yet
+   * or if the size of the problem has changed.
+   *
+   * @returns true if a new qpOASES problem has been instantiated
+   */
+  bool updateSolver();
+
+  /**
+   * Instantiates a new qpOASES problem
+   */
+  void createSolver();
+
+  VarVector vars_;                 /**< model variables */
+  CntVector cnts_;                 /**< model's constraints sizes */
+  DblVec lb_, ub_;                 /**< variables bounds */
+  AffExprVector cnt_exprs_;        /**< constraints expressions */
+  ConstraintTypeVector cnt_types_; /**< constraints types */
+  DblVec solution_;                /**< optimizizer's solution for current model */
+
+  IntVec H_row_indices_;     /**< row indices for Hessian, CSC format */
+  IntVec H_column_pointers_; /**< column pointers for Hessian, CSC format */
+  DblVec H_csc_data_;        /**< Hessian values in CSC format */
+  Eigen::VectorXd g_;        /**< gradient of the optimization problem */
+
+  IntVec A_row_indices_;     /**< row indices for constraint matrix, CSC format */
+  IntVec A_column_pointers_; /**< column pointers for constraint matrix, CSC format */
+  DblVec A_csc_data_;        /**< constraint matrix values in CSC format */
+  DblVec lbA_, ubA_;         /**< linear constraints upper and lower limits */
+
+  QuadExpr objective_; /**< objective QuadExpr expression */
+
+public:
+  qpOASESModel();
+  virtual ~qpOASESModel();
+
+  Var addVar(const std::string& name) override;
+  Cnt addEqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const AffExpr&, const std::string& name) override;
+  Cnt addIneqCnt(const QuadExpr&, const std::string& name) override;
+  void removeVars(const VarVector& vars) override;
+  void removeCnts(const CntVector& cnts) override;
+
+  void update() override;
+  void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) override;
+  DblVec getVarValues(const VarVector& vars) const override;
+  virtual CvxOptStatus optimize() override;
+  virtual void setObjective(const AffExpr&) override;
+  virtual void setObjective(const QuadExpr&) override;
+  virtual void writeToFile(const std::string& fname) override;
+  virtual VarVector getVars() const override;
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
new file mode 100644
index 0000000000..2233e9fec5
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
@@ -0,0 +1,52 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <algorithm>
+#include <cmath>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/sco_fwd.hpp>
+
+namespace sco
+{
+typedef std::vector<double> DblVec;
+typedef std::vector<int> IntVec;
+typedef std::vector<Var> VarVector;
+typedef std::vector<AffExpr> AffExprVector;
+typedef std::vector<QuadExpr> QuadExprVector;
+typedef std::vector<Cnt> CntVector;
+
+inline double vecSum(const DblVec& v)
+{
+  double out = 0;
+  for (unsigned i = 0; i < v.size(); ++i)
+    out += v[i];
+  return out;
+}
+inline double vecAbsSum(const DblVec& v)
+{
+  double out = 0;
+  for (unsigned i = 0; i < v.size(); ++i)
+    out += fabs(v[i]);
+  return out;
+}
+inline double pospart(double x) { return (x > 0) ? x : 0; }
+inline double sq(double x) { return x * x; }
+inline double vecHingeSum(const DblVec& v)
+{
+  double out = 0;
+  for (unsigned i = 0; i < v.size(); ++i)
+    out += pospart(v[i]);
+  return out;
+}
+inline double vecMax(const DblVec& v) { return *std::max_element(v.begin(), v.end()); }
+inline double vecDot(const DblVec& a, const DblVec& b)
+{
+  assert(a.size() == b.size());
+  double out = 0;
+  for (unsigned i = 0; i < a.size(); ++i)
+    out += a[i] * b[i];
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_fwd.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_fwd.hpp
new file mode 100644
index 0000000000..982c8a9ee0
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_fwd.hpp
@@ -0,0 +1,48 @@
+// autogenerated forward declaration header
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <memory>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace sco
+{
+class GurobiModel;
+typedef std::shared_ptr<GurobiModel> GurobiModelPtr;
+class ConvexObjective;
+typedef std::shared_ptr<ConvexObjective> ConvexObjectivePtr;
+class ConvexConstraints;
+typedef std::shared_ptr<ConvexConstraints> ConvexConstraintsPtr;
+class Cost;
+typedef std::shared_ptr<Cost> CostPtr;
+class Constraint;
+typedef std::shared_ptr<Constraint> ConstraintPtr;
+class EqConstraint;
+typedef std::shared_ptr<EqConstraint> EqConstraintPtr;
+class IneqConstraint;
+typedef std::shared_ptr<IneqConstraint> IneqConstraintPtr;
+class OptProb;
+typedef std::shared_ptr<OptProb> OptProbPtr;
+class CostFromFunc;
+typedef std::shared_ptr<CostFromFunc> CostFromFuncPtr;
+class ConstraintFromErrFunc;
+typedef std::shared_ptr<ConstraintFromErrFunc> ConstraintFromFuncPtr;
+class Optimizer;
+typedef std::shared_ptr<Optimizer> OptimizerPtr;
+class BasicTrustRegionSQP;
+typedef std::shared_ptr<BasicTrustRegionSQP> BasicTrustRegionSQPPtr;
+class Model;
+typedef std::shared_ptr<Model> ModelPtr;
+struct VarRep;
+typedef std::shared_ptr<VarRep> VarRepPtr;
+struct Var;
+typedef std::shared_ptr<Var> VarPtr;
+struct CntRep;
+typedef std::shared_ptr<CntRep> CntRepPtr;
+struct Cnt;
+typedef std::shared_ptr<Cnt> CntPtr;
+struct AffExpr;
+typedef std::shared_ptr<AffExpr> AffExprPtr;
+struct QuadExpr;
+typedef std::shared_ptr<QuadExpr> QuadExprPtr;
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
new file mode 100644
index 0000000000..8fb2dc7c08
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
@@ -0,0 +1,206 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cassert>
+#include <iosfwd>
+#include <jsoncpp/json/json.h>
+#include <limits>
+#include <string>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+#include <trajopt_sco/sco_common.hpp>
+
+/**
+@file solver_interface.hpp
+@brief Interface to convex solvers
+
+  This is based on Gurobi's nice c++ API (though the SCO Gurobi backend uses the
+Gurobi c api).
+  However, our intention is to allow for different solvers to be used as
+backends.
+ */
+
+namespace sco
+{
+enum ConstraintType
+{
+  EQ,
+  INEQ
+};
+
+typedef std::vector<ConstraintType> ConstraintTypeVector;
+
+enum CvxOptStatus
+{
+  CVX_SOLVED,
+  CVX_INFEASIBLE,
+  CVX_FAILED
+};
+
+/** @brief Convex optimization problem
+
+Gotchas:
+- after adding a variable, need to call update() before doing anything else with
+that variable
+
+ */
+class Model
+{
+public:
+  virtual Var addVar(const std::string& name) = 0;
+  virtual Var addVar(const std::string& name, double lb, double ub);
+
+  virtual Cnt addEqCnt(const AffExpr&, const std::string& name) = 0;     // expr == 0
+  virtual Cnt addIneqCnt(const AffExpr&, const std::string& name) = 0;   // expr <= 0
+  virtual Cnt addIneqCnt(const QuadExpr&, const std::string& name) = 0;  // expr <= 0
+
+  virtual void removeVar(const Var& var);
+  virtual void removeCnt(const Cnt& cnt);
+  virtual void removeVars(const VarVector& vars) = 0;
+  virtual void removeCnts(const CntVector& cnts) = 0;
+
+  virtual void update() = 0;  // call after adding/deleting stuff
+  virtual void setVarBounds(const Var& var, double lower, double upper);
+  virtual void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) = 0;
+  virtual double getVarValue(const Var& var) const;
+  virtual DblVec getVarValues(const VarVector& vars) const = 0;
+  virtual CvxOptStatus optimize() = 0;
+
+  virtual void setObjective(const AffExpr&) = 0;
+  virtual void setObjective(const QuadExpr&) = 0;
+  virtual void writeToFile(const std::string& fname) = 0;
+
+  virtual VarVector getVars() const = 0;
+
+  virtual ~Model() {}
+};
+
+struct VarRep
+{
+  VarRep(int _index, const std::string& _name, void* _creator)
+    : index(_index), name(_name), removed(false), creator(_creator)
+  {
+  }
+  int index;
+  std::string name;
+  bool removed;
+  void* creator;
+};
+
+struct Var
+{
+  VarRep* var_rep;
+  Var() : var_rep(nullptr) {}
+  Var(VarRep* var_rep) : var_rep(var_rep) {}
+  Var(const Var& other) : var_rep(other.var_rep) {}
+  double value(const double* x) const { return x[var_rep->index]; }
+  double value(const DblVec& x) const
+  {
+    assert(var_rep->index < static_cast<int>(x.size()));
+    return x[static_cast<size_t>(var_rep->index)];
+  }
+};
+
+struct CntRep
+{
+  CntRep(int _index, void* _creator) : index(_index), removed(false), creator(_creator) {}
+  int index;
+  bool removed;
+  void* creator;
+  ConstraintType type;
+  std::string expr;  // todo placeholder
+};
+
+struct Cnt
+{
+  CntRep* cnt_rep;
+  Cnt() : cnt_rep(nullptr) {}
+  Cnt(CntRep* cnt_rep) : cnt_rep(cnt_rep) {}
+  Cnt(const Cnt& other) : cnt_rep(other.cnt_rep) {}
+};
+
+struct AffExpr
+{  // affine expression
+  double constant;
+  DblVec coeffs;
+  VarVector vars;
+  AffExpr() : constant(0) {}
+  explicit AffExpr(double a) : constant(a) {}
+  explicit AffExpr(const Var& v) : constant(0), coeffs(1, 1), vars(1, v) {}
+  AffExpr(const AffExpr& other) : constant(other.constant), coeffs(other.coeffs), vars(other.vars) {}
+  size_t size() const { return coeffs.size(); }
+  double value(const double* x) const;
+  double value(const DblVec& x) const;
+};
+
+struct QuadExpr
+{
+  AffExpr affexpr;
+  DblVec coeffs;
+  VarVector vars1;
+  VarVector vars2;
+  QuadExpr() {}
+  explicit QuadExpr(double a) : affexpr(a) {}
+  explicit QuadExpr(const Var& v) : affexpr(v) {}
+  explicit QuadExpr(const AffExpr& aff) : affexpr(aff) {}
+  size_t size() const { return coeffs.size(); }
+  double value(const double* x) const;
+  double value(const DblVec& x) const;
+};
+
+std::ostream& operator<<(std::ostream&, const Var&);
+std::ostream& operator<<(std::ostream&, const Cnt&);
+std::ostream& operator<<(std::ostream&, const AffExpr&);
+std::ostream& operator<<(std::ostream&, const QuadExpr&);
+
+class ModelType
+{
+public:
+  enum Value
+  {
+    GUROBI,
+    BPMPD,
+    OSQP,
+    QPOASES,
+    AUTO_SOLVER
+  };
+
+  static const std::vector<std::string> MODEL_NAMES_;
+
+  ModelType();
+  ModelType(const ModelType::Value& v);
+  ModelType(const int& v);
+  ModelType(const std::string& s);
+  operator int() const;
+  bool operator==(const ModelType::Value& a) const;
+  bool operator==(const ModelType& a) const;
+  bool operator!=(const ModelType& a) const;
+  void fromJson(const Json::Value& v);
+  friend std::ostream& operator<<(std::ostream& os, const ModelType& cs);
+
+private:
+  Value value_;
+};
+
+std::vector<ModelType> availableSolvers();
+
+std::ostream& operator<<(std::ostream& os, const ModelType& cs);
+
+ModelPtr createModel(ModelType model_type = ModelType::AUTO_SOLVER);
+
+IntVec vars2inds(const VarVector& vars);
+
+IntVec cnts2inds(const CntVector& cnts);
+
+/**
+ * @brief simplify2 gets as input a list of indices, corresponding to non-zero
+ *        values in vals, checks that all indexed values are actually non-zero,
+ *        and if they are not, removes them from vals and inds, so that
+ *        inds_out.size() <= inds.size(). Also, it will compact vals so that
+ *        vals_out.size() == inds_out.size()
+ *
+ * @param[in,out] inds indices of non-vero variables in vals
+ * @param[in,out] val values
+ */
+void simplify2(IntVec& inds, DblVec& vals);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
new file mode 100644
index 0000000000..3edbcbdbba
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
@@ -0,0 +1,154 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <Eigen/SparseCore>
+#include <iostream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+
+namespace sco
+{
+/**
+ * @brief transform an `AffExpr` to an `Eigen::SparseVector`
+ *
+ * @param [in] expr an `AffExpr` expression
+ * @param [out] sparse_vector vector where to store results. It will be resized
+ *                            to the correct size.
+ * @param [in] n_vars the number of variables in expr. It is usually equal
+ *                    to `expr.size()`, but it might be larger.
+ */
+void exprToEigen(const AffExpr& expr, Eigen::SparseVector<double>& sparse_vector, const int& n_vars);
+
+/**
+ * @brief transform a `QuadExpr` to an `Eigen::SparseMatrix` plus
+ *        `Eigen::VectorXd`
+ *
+ * @param [in] expr a `QuadExpr` expression
+ * @param [out] sparse_matrix matrix where to store results. It will be resized
+ *                            to the correct size.
+ * @param [out] vector        vector where to store the affine part of the
+ *                            `QuadExpr`. It will be resized to the correct size.
+ * @param [in] n_vars the number of variables in expr. It is usually equal
+ *                    to `expr.size()`, but it might be larger.
+ * @param [in] matrix_is_halved if `true`, sparse_matrix will be premultiplied
+ *                              by the coefficient `2`.
+ * @param [in] force_diagonal if true, we will forcibly add elements to the
+ *                            diagonal of the sparse matrix, adding `0.` if needed
+ */
+void exprToEigen(const QuadExpr& expr,
+                 Eigen::SparseMatrix<double>& sparse_matrix,
+                 Eigen::VectorXd& vector,
+                 const int& n_vars,
+                 const bool& matrix_is_halved = false,
+                 const bool& force_diagonal = false);
+
+/**
+ * @brief transform a vector of `AffExpr` to an `Eigen::SparseMatrix` plus an
+ *        `Eigen::VectorXd`.
+ *        Notice that the underlying transformation is so that the the affine
+ *        expressions of the type `ax + b` will be stacked in matrix form into
+ *        `Ax + b` and then transformed into the expression `Ax <= -b` so that
+ *        `vector[i] = -expr_vec[i].constant`
+ * @param [in] expr_vec a an `AffExprVector`
+ * @param [out] sparse_matrix matrix where to store results. It will be resized
+ *                            to the correct size.
+ * @param [out] vector vector where to store all the constants of each `AffExpr`,
+ *                     ordered by their appearance order in `expr_vec`.
+ *                     It will be resized to the correct size.
+ * @param [in] n_vars the larger number of variables in expr.
+ *                    It is usually the same for each `expr` in `expr_vec`,
+ *                    and equal to `expr.size()`, but it might be larger.
+ */
+void exprToEigen(const AffExprVector& expr_vec,
+                 Eigen::SparseMatrix<double>& sparse_matrix,
+                 Eigen::VectorXd& vector,
+                 const int& n_vars = -1);
+/**
+ * @brief Converts triplets to an `Eigen::SparseMatrix`.
+ * @param [in] rows_i a vector of row indices
+ * @param [in] cols_j a vector of columns indices
+ * @param [in] values_ij a vector of values, so that:
+ *                       `M[rows_i[k], cols_j[k]] = values_ij[k]`
+ * @param [in,out] sparse_matrix must be of the right size, as we should not
+ *                               be guessing the right size of sparse_matrix from
+ *                               a sparse triplet representation.
+ */
+void tripletsToEigen(const IntVec& rows_i,
+                     const IntVec& cols_j,
+                     const DblVec& values_ij,
+                     Eigen::SparseMatrix<double>& sparse_matrix);
+
+/**
+ * @brief Converts an `Eigen::SparseMatrix` into triplets format
+ * @param [in] sparse_matrix an `Eigen::SparseMatrix`
+ * @param [out] rows_i a vector of row indices
+ * @param [out] cols_j a vector of columns indices
+ * @param [out] values_ij a vector of values, so that:
+ *                       `M[rows_i[k], cols_j[k]] = values_ij[k]`
+ */
+void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
+                     IntVec& rows_i,
+                     IntVec& cols_j,
+                     DblVec& values_ij);
+
+/**
+ * @brief converts a sparse matrix into compressed
+ *        sparse column representation (CSC).
+ *
+ * @param [out] row_indices row indices for a CSC matrix
+ * @param [out] column_pointers column pointer for a CSC matrix
+ * @param [out] values pointer to non-zero elements in CSC representation
+ * @param [in,out] sparse_matrix input matrix: will be compressed
+ */
+template <int eigenUpLoType = 0, typename T>
+void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix,
+                std::vector<T>& row_indices,
+                std::vector<T>& column_pointers,
+                DblVec& values)
+{
+  Eigen::SparseMatrix<double> sm_t;
+  auto sm_ref = std::ref(sparse_matrix);
+
+  if (eigenUpLoType > 0)
+  {
+    sm_t = sparse_matrix.triangularView<eigenUpLoType>();
+    sm_ref = std::ref(sm_t);
+  }
+  sm_ref.get().makeCompressed();
+
+  if (sizeof(T) != sizeof(int))
+  {
+    IntVec row_indices_int, column_pointers_int;
+    auto si_p = sm_ref.get().innerIndexPtr();
+    row_indices_int.assign(si_p, si_p + sm_ref.get().nonZeros());
+    row_indices.clear();
+    row_indices.reserve(row_indices_int.size());
+    for (const auto& v : row_indices_int)
+      row_indices.push_back(static_cast<T>(v));
+
+    si_p = sm_ref.get().outerIndexPtr();
+    column_pointers_int.assign(si_p, si_p + sm_ref.get().outerSize());
+    column_pointers.clear();
+    column_pointers.reserve(column_pointers_int.size());
+    for (const auto& v : column_pointers_int)
+      column_pointers.push_back(static_cast<T>(v));
+  }
+  else
+  {
+    auto si_p = sm_ref.get().innerIndexPtr();
+    row_indices.assign(si_p, si_p + sm_ref.get().nonZeros());
+
+    si_p = sm_ref.get().outerIndexPtr();
+    column_pointers.assign(si_p, si_p + sm_ref.get().outerSize());
+  }
+
+  // while Eigen does not enforce this, CSC format requires that column
+  // pointers ends with the number of non-zero elements
+  column_pointers.push_back(sm_ref.get().nonZeros());
+
+  auto csc_v = sm_ref.get().valuePtr();
+  values.assign(csc_v, csc_v + sm_ref.get().nonZeros());
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/package.xml b/moveit_planners/trajopt/trajopt_sco/package.xml
new file mode 100644
index 0000000000..2198ffb689
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>trajopt_sco</name>
+  <version>0.1.0</version>
+  <description>The trajopt_sco package</description>
+  <maintainer email="levi.armstrong@swri.org">Levi Armstrong</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>trajopt_utils</depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd.par b/moveit_planners/trajopt/trajopt_sco/src/bpmpd.par
new file mode 100644
index 0000000000..342c55aee8
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd.par
@@ -0,0 +1,189 @@
+!  Parameter file for multiply predictor - corrector method
+
+MPS and Input/Output definitions
+
+BEGIN_PROB                ! Begin marker
+NAME      =  default      ! Problem name, max. 36 characters
+STARTSOL  =               ! Warm start solution file name
+MAXMN     =  250000.      ! Upper bound for M+N
+MINMAX    =  1.           !  =1. (mininmize)        =-1. (maximize)
+OUTPUT    =  1.           ! Output level 0 :only statistic, 1 :solution
+OBJNAM    =               ! Objective function name  (first N type row)
+RHSNAM    =               ! RHS   name   (first)
+BNDNAM    =               ! BOUND name   (first)
+RNGNAM    =               ! RANGE name   (first)
+EXPLSLACK =  1.           ! Include slack as variables
+BIGBOUND  = 1.0d+15       ! Skip bounds and ranges exceeding this limit
+SMALLVAL  = 1.0d-12       ! Skip matrix (and bound) values under this limit
+ITERLOG   =  3.           ! 0:no report, 1: stdout, 2: logfile, 3:both
+                          ! 4:advanced debug info   8: debug on steplengths
+                          ! 256: generating bpmpd.qps at start
+END_PROB
+
+
+Optimization parameter section
+
+
+BEGIN_OPT
+
+! Supernode parameters
+
+PSUPNODE  =     4.        ! Primer supernode length
+SSUPNODE  =     4.        ! Secunder supernode length
+CACHESIZ  =   256.        ! Size of the cache in kilobytes
+PUSHFACT  =     2.        ! 0: pull Cholesky
+                          ! 1: single-pass push Cholesky
+                          ! 2: multi-pass push Cholesky
+
+! Density handling and factorization type parameters
+
+MAXDENSE  = 0.20          ! maximal dense columns rate
+DENSGAP   = 3.50          ! density gap parameter
+DENSLEN   = 10.           ! Value for the possibily dense columns
+SUPDENS   = 350.          ! 'Super' dense column length
+SETLAM    =  0.           !  0 : density gap heuristic, ( AAT )
+                          ! -1 : use LAM, ( AAT )
+
+! Pivot and factorization parameters
+
+TPIV1     = 1.0D-03       ! First  threshold pivot tolerance
+TPIV2     = 1.0D-08       ! Second threshold pivot tolerance
+TABS      = 1.0D-12       ! Abs. pivot tolerance for the first factorization
+TRABS     = 1.0D-15       ! Abs. pivot tolerance during the algorithm
+LAM       = 1.0D-05       ! Minimum value of lambda
+TFIND     = 25.           ! Pivot search loop count
+ORDERING  =  0.           !  0 : Selected automatically
+                          !  1 : Minimum degree
+                          !  2 : Minimum local fill-in
+                          !  3 : Nested dissection (METIS at the moment)
+                          ! -1 : No ordering
+
+! Stopping criterion parameters
+
+TOPT1     = 1.0D-08       ! Relative duality gap tolerance
+TOPT2     = 1.0D-25       ! Average complementary gap tolerance
+TFEAS1    = 1.0D-07       ! Relative primal feasibility tolerance
+TFEAS2    = 1.0D-07       ! Relative dual   feasibility tolerance
+INFTOL    = 1.0D+04       ! Infeasibility check tolerance
+TSDIR     = 1.0D-16       ! Search direction maximum norm tolerance
+MAXITER   = 99.           ! Iteration limit
+
+! Numerical tolerances
+
+TPLUS     = 1.0D-10       ! Relative addition tolerance
+TZER      = 1.0D-35       ! Relative zero tolerance
+
+! Iterative refinement tolerances
+
+TRESX     = 1.0D-10       ! Acceptable residual in the primal space
+TRESY     = 1.0D-10       ! Acceptable residual in the dual space
+MAXREF    =  5.           ! Maximal number of refinement
+REFMET    =  3.           ! Refinement method: 1: Iterative improvement
+                          !                    2: Preconditioned QMR
+                          !                    4: Preconditioned CGM
+
+! Scaling parameters      ! Scaling methods:
+                          !  0. : No scaling
+                          !  1. : Simple scaling to rowmax=1, colmax=1
+                          !  2. : Geometric mean scaling + simple scaling
+                          !  3. : Curtis-Reid's algorithm + simple scaling
+                          !  4. : Geometric mean scaling only
+                          !  5. : Curtis-Reid's algorithm only
+OBJNORM   = 1.0D+02       ! Scaling the objective to this max. norm
+RHSNORM   = 0.0D+00       ! Scaling the rhs to this max. norm
+SIGNORE   = 1.0D-12       ! Ignore values during scaling under this parameter
+                          ! BEFORE AGGREGATOR
+SPASSES1   = 5.           ! Maximum number of passes ( <128 )
+SMETHOD1   = 2.           ! Scaling method
+                          ! AFTER AGGREGATOR
+SPASSES2   = 0.           ! Maximum number of passes ( <128 )
+SMETHOD2   = 0.           ! Scaling method
+
+! Complementary gap ballancing
+
+MINSTEP   = 5.0d-01       ! Minimum stepsize
+COMPLMIN  = 1.0d-03       ! Min/Max complementarity component threshold
+
+! Predictor-corrector and barrier parameters
+
+STOPCOR   = 1.00D-03      ! Correction stop parameter
+BARSET    = 2.00D-01      ! Barrier set-up limit
+BARGROW   = 1.00D+03      ! Barrier grow controll
+BARMIN    = 1.00D-15      ! Minimum barrier threshold
+MINCORR   = -1.           ! Number of the minimum corrections
+MAXCORR   =  1.           ! Number of the maximum corrections
+INIBARR   = 0.0d+0        ! Use initial barrier parameter
+
+! Centrality corrections parameters
+
+TARGET    = 9.00D-02      ! Trial steplength improvement
+TSMALL    = 2.00D-01      ! Small complementarity bound
+TLARGE    = 2.00D+01      ! Large compelmentarity bound
+CENTER    = 5.00D+00      ! Centrality force
+CORSTOP   = 1.01D+00      ! Correction stop parameter
+MINCCORR  = 0.            ! Number of the minimum corrections
+MAXCCORR  = 9.            ! Number of the maximum corrections
+
+! Steplenth parameters
+
+PRDARE    = 0.999D+00     ! Maximal primal steplength
+DUDARE    = 0.999D+00     ! Maximal dual   steplength
+
+! Variable fixing tolerances
+
+TFIXVAR   = 1.0D-20       ! Variable reset parameter
+TFIXSLACK = 1.0D-20       ! Slack reset parameter
+DSLACKLIM = 1.0D-20       ! Dual slack variable limit
+
+! Starting point paramerers
+
+PRMIN     =   150.00      ! Minimum initial variable value
+UPMAX     = 50000.00      ! Maximum initial variable value
+DUMIN     =   150.00      ! Minimum initial slack value
+LSQWEIGHT =    10.00      ! LSQ weight over quadratic objective
+SMETHOD   =  2.           ! Starting method  (1. or 2.)
+SAFEMET   = -3.           ! Safe method  (1. 2. or 3.)
+
+!
+! Presolv parameters
+!
+
+PRESOLV   = 2047.         !    1 : singleton row check         (895)
+                          !    2 : singleton column check
+                          !    4 : min/max row value check
+                          !    8 : cheap dual tests
+                          !   16 : dual check
+                          !   32 : primal bound check and relaxation
+                          !   64 : search identical variables
+                          !  128 : setting vars free in row doubletons
+                          !  256 : elimination of free variables
+                          !  512 : linear dependency check
+                          ! 1024 : sparser
+                          ! 2048 : Restore original bounds after elimination
+                          ! 4096 : extended dual tests
+
+BNDLOOP   =      5.       ! Maximum loops in bound check
+DULOOP    =     10.       ! Maximum loops in dual check
+PRIMALBND =   1000.       ! Maximal upper bound allowed during bndcheck
+DUALBND   =  10000.       ! Maximal upper bound allowed during ducheck
+PRESFEAS  =  1.0d-8       ! Feasibility tolerance during presolve
+PIVRTOL   =  1.0D-2       ! Relative pivot tolerance in aggragation
+PIVATOL   =  1.0D-4       ! Absolute pivot tolerance in aggregation
+PIVXTOL   =  1.0D-8       ! Absolute pivot tolerance in linear dep. check
+FILLTOL   =      4.       ! Fill-in controll during aggregation
+
+!
+! Regularization parameters
+!
+
+SOFTREG   = 1.0D-12       ! Soft regularization parameter
+HARDREG   = 1.0D-16       ! Hard regularization parameter
+SCFREE    = 1.0D-06       ! Regularization for free variables
+REGULARIZE= 27.           ! Regularization method
+                          !  1. Pre-regularize free variables
+                          !  2. Pre-regularize equalities, AS
+                          !  4. Pre-regularize equalities, NE
+                          !  8. Post-regularize free variables
+                          ! 16. Post-regularize equalities, AS
+                          ! 32. Post-regularize equalities, NE
+END_OPT
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
new file mode 100644
index 0000000000..f61e82b66e
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
@@ -0,0 +1,102 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <errno.h>
+#include <iostream>
+#include <string.h>
+#include <unistd.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/bpmpd_io.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+extern "C" {
+extern void bpmpd(int*,
+                  int*,
+                  int*,
+                  int*,
+                  int*,
+                  int*,
+                  int*,
+                  double*,
+                  int*,
+                  int*,
+                  double*,
+                  double*,
+                  double*,
+                  double*,
+                  double*,
+                  double*,
+                  double*,
+                  int*,
+                  double*,
+                  int*,
+                  double*,
+                  int*);
+}
+
+int main(int /*argc*/, char** /*argv*/)
+{
+  std::string working_dir = BPMPD_WORKING_DIR;
+  int err = chdir(working_dir.c_str());
+  if (err != 0)
+  {
+    std::cerr << "error going to BPMPD working dir\n";
+    std::cerr << strerror(err) << std::endl;
+    abort();
+  }
+  // int counter=0;
+  while (true)
+  {
+    bpmpd_io::bpmpd_input bi;
+    bpmpd_io::ser(STDIN_FILENO, bi, bpmpd_io::DESER);
+
+    int memsiz = 0;
+    double BIG = 1e30;
+    bpmpd_io::bpmpd_output bo;
+    bo.primal.resize(static_cast<unsigned long>(bi.m + bi.n));
+    bo.dual.resize(static_cast<unsigned long>(bi.m + bi.n));
+    bo.status.resize(static_cast<unsigned long>(bi.m + bi.n));
+
+#define DBG(expr)  // cerr << #expr << ": " << CSTR(expr) << std::endl
+    DBG(bi.m);
+    DBG(bi.n);
+    DBG(bi.nz);
+    DBG(bi.qn);
+    DBG(bi.qnz);
+    DBG(bi.acolcnt);
+    DBG(bi.acolidx);
+    DBG(bi.acolnzs);
+    DBG(bi.qcolcnt);
+    DBG(bi.qcolidx);
+    DBG(bi.qcolnzs);
+    DBG(bi.rhs);
+    DBG(bi.obj);
+    DBG(bi.lbound);
+    DBG(bi.ubound);
+
+    bpmpd(&bi.m,
+          &bi.n,
+          &bi.nz,
+          &bi.qn,
+          &bi.qnz,
+          bi.acolcnt.data(),
+          bi.acolidx.data(),
+          bi.acolnzs.data(),
+          bi.qcolcnt.data(),
+          bi.qcolidx.data(),
+          bi.qcolnzs.data(),
+          bi.rhs.data(),
+          bi.obj.data(),
+          bi.lbound.data(),
+          bi.ubound.data(),
+          bo.primal.data(),
+          bo.dual.data(),
+          bo.status.data(),
+          &BIG,
+          &bo.code,
+          &bo.opt,
+          &memsiz);
+
+    bpmpd_io::ser(STDOUT_FILENO, bo, bpmpd_io::SER);
+  }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
new file mode 100644
index 0000000000..82679c6982
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
@@ -0,0 +1,521 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cmath>
+#include <fstream>
+#include <signal.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/bpmpd_interface.hpp>
+#include <trajopt_sco/bpmpd_io.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+/**
+This is a readme file for the linux DLL version of BPMPD version 2.21
+The DLL solves linear and convex quadratic problems.
+
+
+The objective function is assumed to be in the form:
+
+                1
+   min    c'x + - x'Qx
+                2
+
+
+The interface (Fortran-like) for BPMPD:
+
+    subroutine bpmpd(m,n,nz,qn,qnz,
+               acolcnt,acolidx,acolnzs,
+               qcolcnt,qcolidx,qcolnzs,
+               rhs,obj,lbound,ubound,primal,dual,status,
+               big,code,opt,memsiz)
+
+integer*4 m,n,nz,qn,qnz,acolcnt(n),acolidx(nz),qcolcnt(n),qcolidx(qnz),
+          status(n+m),code,
+real*8    acolnzs(nz),qcolnzs(qnz),rhs(m),obj(n),lbound(n+m),ubound(n+m),
+          primal(n+m),dual(n+m),big,opt
+
+
+or C-like:
+
+void bpmpd(int *m, int *n, int *nz, int *qn, int *qnz, int *acolcnt,
+          int *acolidx, double *acolnzs, int *qcolcnt, int *qcolidx,
+          double *qcolnzs, double *rhs, double *obj, double *lbound,
+          double *ubound, double *primal, double *dual, int *status,
+          double *big, int *code, double *opt, int *memsiz)
+
+where
+
+  memsiz : Number of bytes to be allocated by bpmpd. If memsiz <= 0
+           bpmpd determines the allocatable memory itself. As output
+           memsiz contains the memory in bytes which was used during
+           the process.
+
+       m : number of rows in the constraint matrix
+       n : number of columns in the constraint matrix
+      nz : number of nonzeros in the constraint matrix
+      qn : number of quadratic variables
+     qnz : number of nonzeros in the lower triangular of Q (with diagonals)
+
+ acolcnt : number of nonzeros in each column of A
+ acolidx : A matrix index values
+ acolnzs : A matrix nonzero values
+           It is supposed that the columns are placed continuousely from
+           the first positions of the parallel arrays acolidx-acolnzs.
+
+ qcolcnt : number of nonzeros in each column of the lower triangular part of Q
+ qcolidx : Q matrix index values
+ qcolnzs : Q matrix nonzero values
+           It is supposed that the the lower triangular part (with diagonal)
+           of Q is provided and its columns are placed continuousely from
+           the first positions of the parallel arrays qcolidx-qcolnzs.
+
+     rhs : right hand side
+     obj : objective function
+  lbound :    1 ..   n lower bounds of the variables
+            n+1 .. n+m lower bounds on rows (slacks)
+  ubound : upper bounds (like lbound)
+
+  primal : optimal primal values
+  dual   : optimal dual values
+  status : basic/nonbasic status estimation of variables (1/0)
+
+     big : Represents infinity (recommended big = 1.0d+30 )
+    code : return code
+           if code < 0 --> not enought memory
+           if code = 1 --> solver stopped at feasible point (suboptimal
+solution)
+           if code = 2 --> optimal solution found
+           if code = 3 --> problem dual infeasible
+           if code = 4 --> problem primal infeasible
+
+    opt : final primal objective value
+
+The DLL will read the parameter file called bpmpd.par (if presented) and
+write a log file called bpmpd.log.
+
+
+  As example the LP problem :
+
+                min x1 + x1*x1 + 2*x1*x2 + 2*x2*x2 + x4*x4
+
+              1x1  + 2x2 + 0x3 -4x4 >=   0
+              3x1  + 0x2 - 2x3 -1x4 <= 100
+       30 >=  1x1  + 3x2 + 3x3 -2x4 >=  10
+
+                  x1,x2,x3 >=0
+                        x1 <= 20
+
+  Then the input parameters:
+
+  m=3, n=4, nz=10, qn=3, qnz=4
+
+  ubound :  (20, big, big,  big,    big,    0,  20)
+  lbound :  ( 0,   0,   0, -big,      0, -big,   0)
+  rhs    :  ( 0, 100,  10)
+  obj    :  ( 1,   0,   0,    0)
+
+acolcnt  :  ( 3,         2,      2,      3)
+acolidx  :  ( 1, 2, 3,   1, 3,   2, 3,   1, 2, 3)
+acolnzs  :  ( 1, 3, 1,   2, 3,  -2, 3,  -4,-1,-2)
+
+qcolcnt  :  ( 2,         1,      0,      1)
+qcolidx  :  ( 1,2,       2,              4)
+qcolnzs  :  ( 2,2,       4,              2)
+
+                                      1        1  1  0         2  2  0
+(Note : 2*x1*x2 = x1*x2+x2*x1   thus  - * Q =  1  2  0 and Q = 2  4  0 )
+                                      2        0  0  1         0  0  2
+
+NOTE:
+The subroutine solves minimization problems, therefore you
+have to change the sign of the objective, if you have a maximization
+problem.
+
+NOTE:
+The DLL routine will create a log file called "bpmpd.log" at every call.
+The old bpmpd.log file will be overwritten.
+
+NOTE:
+A sample driver solving the above problem is included as well as the
+logfile it generates.
+  **/
+
+// extern "C" {
+//   extern void bpmpd(int *, int *, int *, int *, int *, int *, int *,
+//          double *, int *, int *, double *, double *, double *, double *,
+//          double *, double *, double *, int *, double *, int *, double *, int
+//          *);
+// }
+
+namespace sco
+{
+static double BPMPD_BIG = 1e+30;
+
+ModelPtr createBPMPDModel()
+{
+  ModelPtr out(new BPMPDModel());
+  return out;
+}
+
+#define READ 0
+#define WRITE 1
+
+pid_t popen2(const char* command, int* infp, int* outfp)
+{
+  int p_stdin[2], p_stdout[2];
+  pid_t pid;
+
+  if (pipe(p_stdin) != 0 || pipe(p_stdout) != 0)
+    return -1;
+
+  pid = fork();
+
+  if (pid < 0)
+  {
+    assert(0);
+    return pid;
+  }
+  else if (pid == 0)
+  {
+    close(p_stdin[WRITE]);
+    dup2(p_stdin[READ], READ);
+    close(p_stdout[READ]);
+    dup2(p_stdout[WRITE], WRITE);
+
+    execl("/bin/sh", "sh", "-c", command, nullptr);
+    perror("execl");
+    exit(1);
+  }
+
+  if (infp == nullptr)
+    close(p_stdin[WRITE]);
+  else
+    *infp = p_stdin[WRITE];
+
+  if (outfp == nullptr)
+    close(p_stdout[READ]);
+  else
+    *outfp = p_stdout[READ];
+
+  return pid;
+}
+
+static pid_t gPID = 0;
+static int gPipeIn = 0;
+static int gPipeOut = 0;
+
+void fexit()
+{
+  char text[1] = { bpmpd_io::EXIT_CHAR };
+  long n = write(gPipeIn, text, 1);
+  ALWAYS_ASSERT(n == 1);
+}
+
+BPMPDModel::BPMPDModel() : m_pipeIn(0), m_pipeOut(0)
+{
+  if (gPID == 0)
+  {
+    atexit(fexit);
+    gPID = popen2(BPMPD_CALLER, &gPipeIn, &gPipeOut);
+  }
+}
+
+BPMPDModel::~BPMPDModel()
+{
+  // char text[1] = {123};
+  // write(gPipeIn, text, 1);
+  // // kill(m_pid, SIGKILL); // TODO: WHY DOES THIS KILL THE PARENT PROCESS?!
+  // close(m_pipeIn);
+  // close(m_pipeOut);
+  // m_pipeIn=0;
+  // m_pipeOut=0;
+}
+
+Var BPMPDModel::addVar(const std::string& name)
+{
+  m_vars.push_back(new VarRep(static_cast<int>(m_vars.size()), name, this));
+  m_lbs.push_back(-BPMPD_BIG);
+  m_ubs.push_back(BPMPD_BIG);
+  return m_vars.back();
+}
+Cnt BPMPDModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
+  m_cntExprs.push_back(expr);
+  m_cntTypes.push_back(EQ);
+  return m_cnts.back();
+}
+Cnt BPMPDModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
+  m_cntExprs.push_back(expr);
+  m_cntTypes.push_back(INEQ);
+  return m_cnts.back();
+}
+Cnt BPMPDModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/)
+{
+  assert(0 && "NOT IMPLEMENTED");
+  return nullptr;
+}
+void BPMPDModel::removeVars(const VarVector& vars)
+{
+  IntVec inds = vars2inds(vars);
+  for (unsigned i = 0; i < vars.size(); ++i)
+    vars[i].var_rep->removed = true;
+}
+
+void BPMPDModel::removeCnts(const CntVector& cnts)
+{
+  IntVec inds = cnts2inds(cnts);
+  for (unsigned i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep->removed = true;
+}
+
+void BPMPDModel::update()
+{
+  {
+    size_t inew = 0;
+    for (unsigned iold = 0; iold < m_vars.size(); ++iold)
+    {
+      const Var& var = m_vars[iold];
+      if (!var.var_rep->removed)
+      {
+        m_vars[inew] = var;
+        m_lbs[inew] = m_lbs[iold];
+        m_ubs[inew] = m_ubs[iold];
+        var.var_rep->index = static_cast<int>(inew);
+        ++inew;
+      }
+      else
+        delete var.var_rep;
+    }
+    m_vars.resize(inew);
+    m_lbs.resize(inew);
+    m_ubs.resize(inew);
+  }
+  {
+    size_t inew = 0;
+    for (unsigned iold = 0; iold < m_cnts.size(); ++iold)
+    {
+      const Cnt& cnt = m_cnts[iold];
+      if (!cnt.cnt_rep->removed)
+      {
+        m_cnts[inew] = cnt;
+        m_cntExprs[inew] = m_cntExprs[iold];
+        m_cntTypes[inew] = m_cntTypes[iold];
+        cnt.cnt_rep->index = static_cast<int>(inew);
+        ++inew;
+      }
+      else
+        delete cnt.cnt_rep;
+    }
+    m_cnts.resize(inew);
+    m_cntExprs.resize(inew);
+    m_cntTypes.resize(inew);
+  }
+}
+
+void BPMPDModel::setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper)
+{
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    size_t varind = static_cast<size_t>(vars[i].var_rep->index);
+    m_lbs[varind] = lower[i];
+    m_ubs[varind] = upper[i];
+  }
+}
+DblVec BPMPDModel::getVarValues(const VarVector& vars) const
+{
+  DblVec out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    size_t varind = static_cast<size_t>(vars[i].var_rep->index);
+    out[i] = m_soln[varind];
+  }
+  return out;
+}
+
+#define DBG(expr)  // cout << #expr << ": " << CSTR(expr) << std::endl
+
+CvxOptStatus BPMPDModel::optimize()
+{
+  update();
+  //
+  //
+  // int    m, n, nz, qn, qnz, acolcnt[maxn+1], acolidx[maxnz], qcolcnt[maxn+1],
+  // qcolidx[maxqnz],
+  //        status[maxn+maxm], code, memsiz;
+  // double acolnzs[maxnz], qcolnzs[maxqnz], rhs[maxm], obj[maxn],
+  // lbound[maxn+maxm],
+  //        ubound[maxn+maxm], primal[maxn+maxm], dual[maxn+maxm], big, opt;
+
+  size_t n = m_vars.size();
+  size_t m = m_cnts.size();
+
+  IntVec acolcnt(n), acolidx, qcolcnt(n), qcolidx, status(m + n);
+  DblVec acolnzs, qcolnzs, rhs(m), obj(n, 0), lbound(m + n), ubound(m + n), primal(m + n), dual(m + n);
+
+  DBG(m_lbs);
+  DBG(m_ubs);
+  for (size_t iVar = 0; iVar < n; ++iVar)
+  {
+    lbound[iVar] = fmax(m_lbs[iVar], -BPMPD_BIG);
+    ubound[iVar] = fmin(m_ubs[iVar], BPMPD_BIG);
+  }
+
+  std::vector<IntVec> var2cntinds(n);
+  std::vector<DblVec> var2cntvals(n);
+  for (size_t iCnt = 0; iCnt < m; ++iCnt)
+  {
+    const AffExpr& aff = m_cntExprs[iCnt];
+    // cout << "adding constraint " << aff << endl;
+    IntVec inds = vars2inds(aff.vars);
+
+    for (size_t i = 0; i < aff.vars.size(); ++i)
+    {
+      var2cntinds[static_cast<size_t>(inds[i])].push_back(static_cast<int>(iCnt));
+      var2cntvals[static_cast<size_t>(inds[i])].push_back(aff.coeffs[i]);  // xxx maybe repeated/
+    }
+
+    lbound[n + iCnt] = (m_cntTypes[iCnt] == INEQ) ? -BPMPD_BIG : 0;
+    ubound[n + iCnt] = 0;
+    rhs[iCnt] = -aff.constant;
+  }
+
+  for (size_t iVar = 0; iVar < n; ++iVar)
+  {
+    simplify2(var2cntinds[iVar], var2cntvals[iVar]);
+    acolcnt[iVar] = static_cast<int>(var2cntinds[iVar].size());
+    acolidx.insert(acolidx.end(), var2cntinds[iVar].begin(), var2cntinds[iVar].end());
+    acolnzs.insert(acolnzs.end(), var2cntvals[iVar].begin(), var2cntvals[iVar].end());
+  }
+  // cout << CSTR(acolidx) << endl;
+  // cout << CSTR(acolnzs) << endl;
+
+  std::vector<DblVec> var2qcoeffs(n);
+  std::vector<IntVec> var2qinds(n);
+  for (size_t i = 0; i < m_objective.size(); ++i)
+  {
+    size_t idx1 = static_cast<size_t>(m_objective.vars1[i].var_rep->index);
+    size_t idx2 = static_cast<size_t>(m_objective.vars2[i].var_rep->index);
+    if (idx1 < idx2)
+    {
+      var2qinds[idx1].push_back(static_cast<int>(idx2));
+      var2qcoeffs[idx1].push_back(m_objective.coeffs[i]);
+    }
+    else if (idx1 == idx2)
+    {
+      var2qinds[idx1].push_back(static_cast<int>(idx2));
+      var2qcoeffs[idx1].push_back(m_objective.coeffs[i] * 2);
+    }
+    else
+    {
+      var2qinds[idx2].push_back(static_cast<int>(idx1));
+      var2qcoeffs[idx2].push_back(m_objective.coeffs[i]);
+    }
+  }
+
+  for (size_t iVar = 0; iVar < n; ++iVar)
+  {
+    simplify2(var2qinds[iVar], var2qcoeffs[iVar]);
+    qcolidx.insert(qcolidx.end(), var2qinds[iVar].begin(), var2qinds[iVar].end());
+    qcolnzs.insert(qcolnzs.end(), var2qcoeffs[iVar].begin(), var2qcoeffs[iVar].end());
+    qcolcnt[iVar] = static_cast<int>(var2qinds[iVar].size());
+  }
+
+  for (size_t i = 0; i < m_objective.affexpr.size(); ++i)
+  {
+    obj[static_cast<size_t>(m_objective.affexpr.vars[i].var_rep->index)] += m_objective.affexpr.coeffs[i];
+  }
+
+#define VECINC(vec)                                                                                                    \
+  for (unsigned i = 0; i < vec.size(); ++i)                                                                            \
+    ++vec[i];
+  VECINC(acolidx);
+  VECINC(qcolidx);
+#undef VECINC
+
+  // cout << "objective: " << m_objective << endl;
+
+  int nz = static_cast<int>(acolnzs.size()), qn = static_cast<int>(n), qnz = static_cast<int>(qcolnzs.size());
+
+  DBG(m);
+  DBG(n);
+  DBG(nz);
+  DBG(qn);
+  DBG(qnz);
+  DBG(acolcnt);
+  DBG(acolidx);
+  DBG(acolnzs);
+  DBG(qcolcnt);
+  DBG(qcolidx);
+  DBG(qcolnzs);
+  DBG(rhs);
+  DBG(obj);
+  DBG(lbound);
+  DBG(ubound);
+
+#if 0
+  bpmpd(&m, &n, &nz, &qn, &qnz, acolcnt.data(), acolidx.data(), acolnzs.data(), qcolcnt.data(), qcolidx.data(), qcolnzs.data(),
+      rhs.data(), obj.data(), lbound.data(), ubound.data(), 
+      primal.data(), dual.data(), status.data(), &BIG, &code, &opt, &memsiz);
+
+  // opt += m_objective.affexpr.constant;
+  m_soln = DblVec(primal.begin(), primal.begin()+n);
+
+
+  if (1) {
+    DBG(primal);
+    DBG(dual);
+    DBG(status);
+    DBG(code);
+    DBG(opt);
+#undef DBG
+
+#else
+
+  bpmpd_io::bpmpd_input bi(static_cast<int>(m),
+                           static_cast<int>(n),
+                           nz,
+                           qn,
+                           qnz,
+                           acolcnt,
+                           acolidx,
+                           acolnzs,
+                           qcolcnt,
+                           qcolidx,
+                           qcolnzs,
+                           rhs,
+                           obj,
+                           lbound,
+                           ubound);
+  bpmpd_io::ser(gPipeIn, bi, bpmpd_io::SER);
+
+  // std::cout << "serialization time:" << end-start << std::endl;
+
+  bpmpd_io::bpmpd_output bo;
+  bpmpd_io::ser(gPipeOut, bo, bpmpd_io::DESER);
+
+  m_soln = DblVec(bo.primal.begin(), bo.primal.begin() + static_cast<long int>(n));
+  int retcode = bo.code;
+
+  if (retcode == 2)
+    return CVX_SOLVED;
+  else if (retcode == 3 || retcode == 4)
+    return CVX_INFEASIBLE;
+  else
+    return CVX_FAILED;
+
+#endif
+
+  // exit(0);
+}
+void BPMPDModel::setObjective(const AffExpr& expr) { m_objective.affexpr = expr; }
+void BPMPDModel::setObjective(const QuadExpr& expr) { m_objective = expr; }
+void BPMPDModel::writeToFile(const std::string& /*fname*/)
+{
+  // assert(0 && "NOT IMPLEMENTED");
+}
+VarVector BPMPDModel::getVars() const { return m_vars; }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp b/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
new file mode 100644
index 0000000000..5540a31bac
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
@@ -0,0 +1,103 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cmath>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+
+static inline double sq(double x) { return x * x; }
+namespace sco
+{
+QuadExpr exprMult(const AffExpr& affexpr1, const AffExpr& affexpr2)
+{
+  QuadExpr out;
+  size_t naff1 = affexpr1.coeffs.size();
+  size_t naff2 = affexpr2.coeffs.size();
+  size_t nquad = naff1 * naff2;
+
+  // Multiply the constants of the two expr
+  out.affexpr.constant = affexpr1.constant * affexpr2.constant;
+
+  // Account for vars in each expr multiplied by the constant in the other expr
+  out.affexpr.vars.reserve(naff1 + naff2);
+  out.affexpr.vars.insert(out.affexpr.vars.end(), affexpr1.vars.begin(), affexpr1.vars.end());
+  out.affexpr.vars.insert(out.affexpr.vars.end(), affexpr2.vars.begin(), affexpr2.vars.end());
+  out.affexpr.coeffs.resize(naff1 + naff2);
+  for (size_t i = 0; i < naff1; ++i)
+    out.affexpr.coeffs[i] = affexpr2.constant * affexpr1.coeffs[i];
+  for (size_t i = 0; i < naff2; ++i)
+    out.affexpr.coeffs[i + naff1] = affexpr1.constant * affexpr2.coeffs[i];
+
+  // Account for the vars in each expr that are multipled by another var in the other expr
+  out.coeffs.reserve(nquad);
+  out.vars1.reserve(nquad);
+  out.vars2.reserve(nquad);
+  for (size_t i = 0; i < naff1; ++i)
+  {
+    for (size_t j = 0; j < naff2; ++j)
+    {
+      out.vars1.push_back(affexpr1.vars[i]);
+      out.vars2.push_back(affexpr2.vars[j]);
+      out.coeffs.push_back(affexpr1.coeffs[i] * affexpr2.coeffs[j]);
+    }
+  }
+  return out;
+}
+
+QuadExpr exprSquare(const Var& a)
+{
+  QuadExpr out;
+  out.coeffs.push_back(1);
+  out.vars1.push_back(a);
+  out.vars2.push_back(a);
+  return out;
+}
+
+QuadExpr exprSquare(const AffExpr& affexpr)
+{
+  QuadExpr out;
+  size_t naff = affexpr.coeffs.size();
+  size_t nquad = (naff * (naff + 1)) / 2;
+
+  out.affexpr.constant = sq(affexpr.constant);
+
+  out.affexpr.vars = affexpr.vars;
+  out.affexpr.coeffs.resize(naff);
+  for (size_t i = 0; i < naff; ++i)
+    out.affexpr.coeffs[i] = 2 * affexpr.constant * affexpr.coeffs[i];
+
+  out.coeffs.reserve(nquad);
+  out.vars1.reserve(nquad);
+  out.vars2.reserve(nquad);
+  for (size_t i = 0; i < naff; ++i)
+  {
+    out.vars1.push_back(affexpr.vars[i]);
+    out.vars2.push_back(affexpr.vars[i]);
+    out.coeffs.push_back(sq(affexpr.coeffs[i]));
+    for (size_t j = i + 1; j < naff; ++j)
+    {
+      out.vars1.push_back(affexpr.vars[i]);
+      out.vars2.push_back(affexpr.vars[j]);
+      out.coeffs.push_back(2 * affexpr.coeffs[i] * affexpr.coeffs[j]);
+    }
+  }
+  return out;
+}
+
+AffExpr cleanupAff(const AffExpr& a)
+{
+  AffExpr out;
+  for (size_t i = 0; i < a.size(); ++i)
+  {
+    if (fabs(a.coeffs[i]) > 1e-7)
+    {
+      out.coeffs.push_back(a.coeffs[i]);
+      out.vars.push_back(a.vars[i]);
+    }
+  }
+  out.constant = a.constant;
+  return out;
+}
+
+///////////////////////////////////////////////////////////////
+}  // namespace sco
diff --git a/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp b/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
new file mode 100644
index 0000000000..07ff89a0b8
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/expr_vec_ops.cpp
@@ -0,0 +1,12 @@
+#include <trajopt_sco/expr_vec_ops.hpp>
+namespace sco
+{
+AffExpr varDot(const Eigen::VectorXd& x, const VarVector& v)
+{
+  AffExpr out;
+  out.constant = 0;
+  out.vars = v;
+  out.coeffs = DblVec(x.data(), x.data() + x.size());
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
new file mode 100644
index 0000000000..03bead3e97
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
@@ -0,0 +1,306 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+extern "C" {
+#include "gurobi_c.h"
+}
+#include <iostream>
+#include <map>
+#include <sstream>
+#include <stdexcept>
+#include <utility>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/gurobi_interface.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace sco
+{
+GRBenv* gEnv;
+
+#if 0
+void simplify(IntVec& inds, DblVec& vals) {
+  // first find the largest element of inds
+  // make an array of that size
+  //
+
+  assert(inds.size() == vals.size());
+  int min_ind = *std::min_element(inds.begin(), inds.end());
+  int max_ind = *std::max_element(inds.begin(), inds.end());
+  int orig_size = inds.size();
+  int work_size = max_ind - min_ind + 1;
+  DblVec work_vals(work_size, 0);
+
+  for (int i=0; i < orig_size; ++i) {
+    work_vals[inds[i] - min_ind] += vals[i];
+  }
+
+
+  int i_new = 0;
+  for (int i=0; i < work_size; ++i) {
+    if (work_vals[i] != 0) {
+      vals[i_new] = work_vals[i];
+      inds[i_new] = i + min_ind;
+      ++i_new;
+    }
+  }
+
+  inds.resize(i_new);
+  vals.resize(i_new);
+
+}
+#endif
+
+#define ENSURE_SUCCESS(expr)                                                                                           \
+  do                                                                                                                   \
+  {                                                                                                                    \
+    bool error = expr;                                                                                                 \
+    if (error)                                                                                                         \
+    {                                                                                                                  \
+      printf("GRB error: %s while evaluating %s at %s:%i\n", GRBgeterrormsg(gEnv), #expr, __FILE__, __LINE__);         \
+      abort();                                                                                                         \
+    }                                                                                                                  \
+  } while (0)
+
+ModelPtr createGurobiModel()
+{
+  ModelPtr out(new GurobiModel());
+  return out;
+}
+
+GurobiModel::GurobiModel()
+{
+  if (!gEnv)
+  {
+    GRBloadenv(&gEnv, nullptr);
+    if (util::GetLogLevel() < util::LevelDebug)
+    {
+      ENSURE_SUCCESS(GRBsetintparam(gEnv, "OutputFlag", 0));
+    }
+  }
+  GRBnewmodel(gEnv, &m_model, "problem", 0, nullptr, nullptr, nullptr, nullptr, nullptr);
+}
+
+Var GurobiModel::addVar(const std::string& name)
+{
+  ENSURE_SUCCESS(GRBaddvar(
+      m_model, 0, nullptr, nullptr, 0, -GRB_INFINITY, GRB_INFINITY, GRB_CONTINUOUS, const_cast<char*>(name.c_str())));
+  m_vars.push_back(new VarRep(static_cast<int>(m_vars.size()), name, this));
+  return m_vars.back();
+}
+
+Var GurobiModel::addVar(const std::string& name, double lb, double ub)
+{
+  ENSURE_SUCCESS(GRBaddvar(m_model, 0, nullptr, nullptr, 0, lb, ub, GRB_CONTINUOUS, const_cast<char*>(name.c_str())));
+  m_vars.push_back(new VarRep(static_cast<int>(m_vars.size()), name, this));
+  return m_vars.back();
+}
+
+Cnt GurobiModel::addEqCnt(const AffExpr& expr, const std::string& name)
+{
+  LOG_TRACE("adding eq constraint: %s = 0", CSTR(expr));
+  IntVec inds = vars2inds(expr.vars);
+  DblVec vals = expr.coeffs;
+  simplify2(inds, vals);
+  ENSURE_SUCCESS(GRBaddconstr(m_model,
+                              inds.size(),
+                              const_cast<int*>(inds.data()),
+                              const_cast<double*>(vals.data()),
+                              GRB_EQUAL,
+                              -expr.constant,
+                              const_cast<char*>(name.c_str())));
+  m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
+  return m_cnts.back();
+}
+Cnt GurobiModel::addIneqCnt(const AffExpr& expr, const std::string& name)
+{
+  LOG_TRACE("adding ineq: %s <= 0", CSTR(expr));
+  IntVec inds = vars2inds(expr.vars);
+  DblVec vals = expr.coeffs;
+  simplify2(inds, vals);
+  ENSURE_SUCCESS(GRBaddconstr(
+      m_model, inds.size(), inds.data(), vals.data(), GRB_LESS_EQUAL, -expr.constant, const_cast<char*>(name.c_str())));
+  m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
+  return m_cnts.back();
+}
+Cnt GurobiModel::addIneqCnt(const QuadExpr& qexpr, const std::string& name)
+{
+  int numlnz = qexpr.affexpr.size();
+  IntVec linds = vars2inds(qexpr.affexpr.vars);
+  DblVec lvals = qexpr.affexpr.coeffs;
+  IntVec inds1 = vars2inds(qexpr.vars1);
+  IntVec inds2 = vars2inds(qexpr.vars2);
+  ENSURE_SUCCESS(GRBaddqconstr(m_model,
+                               numlnz,
+                               linds.data(),
+                               lvals.data(),
+                               qexpr.size(),
+                               inds1.data(),
+                               inds2.data(),
+                               const_cast<double*>(qexpr.coeffs.data()),
+                               GRB_LESS_EQUAL,
+                               -qexpr.affexpr.constant,
+                               const_cast<char*>(name.c_str())));
+  return Cnt();
+}
+
+void resetIndices(VarVector& vars)
+{
+  for (size_t i = 0; i < vars.size(); ++i)
+    vars[i].var_rep[i].index = i;
+}
+void resetIndices(CntVector& cnts)
+{
+  for (size_t i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep[i].index = i;
+}
+
+void GurobiModel::removeVars(const VarVector& vars)
+{
+  IntVec inds = vars2inds(vars);
+  ENSURE_SUCCESS(GRBdelvars(m_model, inds.size(), inds.data()));
+  for (int i = 0; i < vars.size(); ++i)
+    vars[i].var_rep->removed = true;
+}
+
+void GurobiModel::removeCnts(const CntVector& cnts)
+{
+  IntVec inds = cnts2inds(cnts);
+  ENSURE_SUCCESS(GRBdelconstrs(m_model, inds.size(), inds.data()));
+  for (int i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep->removed = true;
+}
+
+#if 0
+void GurobiModel::setVarBounds(const Var& var, double lower, double upper) {
+  assert(var.var_rep->creator == this);
+  ENSURE_SUCCESS(GRBsetdblattrelement(m_model, GRB_DBL_ATTR_LB, var.var_rep->index, lower));
+  ENSURE_SUCCESS(GRBsetdblattrelement(m_model, GRB_DBL_ATTR_UB, var.var_rep->index, upper));
+}
+#endif
+
+void GurobiModel::setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper)
+{
+  assert(vars.size() == lower.size() && vars.size() == upper.size());
+  IntVec inds = vars2inds(vars);
+  ENSURE_SUCCESS(
+      GRBsetdblattrlist(m_model, GRB_DBL_ATTR_LB, inds.size(), inds.data(), const_cast<double*>(lower.data())));
+  ENSURE_SUCCESS(
+      GRBsetdblattrlist(m_model, GRB_DBL_ATTR_UB, inds.size(), inds.data(), const_cast<double*>(upper.data())));
+}
+
+#if 0
+double GurobiModel::getVarValue(const Var& var) const {
+  assert(var.var_rep->creator == this);
+  double out;
+  ENSURE_SUCCESS(GRBgetdblattrelement(m_model, GRB_DBL_ATTR_X, var.var_rep->index, &out));
+  return out;
+}
+#endif
+
+DblVec GurobiModel::getVarValues(const VarVector& vars) const
+{
+  assert((vars.size() == 0) || (vars[0].var_rep->creator == this));
+  IntVec inds = vars2inds(vars);
+  DblVec out(inds.size());
+  ENSURE_SUCCESS(GRBgetdblattrlist(m_model, GRB_DBL_ATTR_X, inds.size(), inds.data(), out.data()));
+  return out;
+}
+
+CvxOptStatus GurobiModel::optimize()
+{
+  ENSURE_SUCCESS(GRBoptimize(m_model));
+  int status;
+  GRBgetintattr(m_model, GRB_INT_ATTR_STATUS, &status);
+  if (status == GRB_OPTIMAL)
+  {
+    double objval;
+    GRBgetdblattr(m_model, GRB_DBL_ATTR_OBJVAL, &objval);
+    LOG_DEBUG("solver objective value: %.3e", objval);
+    return CVX_SOLVED;
+  }
+  else if (status == GRB_INFEASIBLE)
+  {
+    GRBcomputeIIS(m_model);
+    return CVX_INFEASIBLE;
+  }
+  else
+    return CVX_FAILED;
+}
+CvxOptStatus GurobiModel::optimizeFeasRelax()
+{
+  double lbpen = GRB_INFINITY, ubpen = GRB_INFINITY, rhspen = 1;
+  ENSURE_SUCCESS(
+      GRBfeasrelax(m_model, 0 /*sum of viol*/, 0 /*just minimize cost of viol*/, &lbpen, &ubpen, &rhspen, nullptr));
+  return optimize();
+}
+
+void GurobiModel::setObjective(const AffExpr& expr)
+{
+  GRBdelq(m_model);
+
+  int nvars;
+  GRBgetintattr(m_model, GRB_INT_ATTR_NUMVARS, &nvars);
+  assert(nvars == m_vars.size());
+
+  DblVec obj(nvars, 0);
+  for (size_t i = 0; i < expr.size(); ++i)
+  {
+    obj[expr.vars[i].var_rep->index] += expr.coeffs[i];
+  }
+  ENSURE_SUCCESS(GRBsetdblattrarray(m_model, "Obj", 0, nvars, obj.data()));
+  GRBsetdblattr(m_model, "ObjCon", expr.constant);
+}
+
+void GurobiModel::setObjective(const QuadExpr& quad_expr)
+{
+  setObjective(quad_expr.affexpr);
+  IntVec inds1 = vars2inds(quad_expr.vars1);
+  IntVec inds2 = vars2inds(quad_expr.vars2);
+  GRBaddqpterms(m_model,
+                quad_expr.coeffs.size(),
+                const_cast<int*>(inds1.data()),
+                const_cast<int*>(inds2.data()),
+                const_cast<double*>(quad_expr.coeffs.data()));
+}
+
+void GurobiModel::writeToFile(const std::string& fname) { ENSURE_SUCCESS(GRBwrite(m_model, fname.c_str())); }
+void GurobiModel::update()
+{
+  ENSURE_SUCCESS(GRBupdatemodel(m_model));
+
+  {
+    int inew = 0;
+    for (const Var& var : m_vars)
+    {
+      if (!var.var_rep->removed)
+      {
+        m_vars[inew] = var;
+        var.var_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete var.var_rep;
+    }
+    m_vars.resize(inew);
+  }
+  {
+    int inew = 0;
+    for (const Cnt& cnt : m_cnts)
+    {
+      if (!cnt.cnt_rep->removed)
+      {
+        m_cnts[inew] = cnt;
+        cnt.cnt_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete cnt.cnt_rep;
+    }
+    m_cnts.resize(inew);
+  }
+}
+
+VarVector GurobiModel::getVars() const { return m_vars; }
+GurobiModel::~GurobiModel() { ENSURE_SUCCESS(GRBfreemodel(m_model)); }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
new file mode 100644
index 0000000000..1487a74b9e
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
@@ -0,0 +1,266 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/format.hpp>
+#include <cstdio>
+#include <iostream>
+#include <sstream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+void ConvexObjective::addAffExpr(const AffExpr& affexpr) { exprInc(quad_, affexpr); }
+void ConvexObjective::addQuadExpr(const QuadExpr& quadexpr) { exprInc(quad_, quadexpr); }
+void ConvexObjective::addHinge(const AffExpr& affexpr, double coeff)
+{
+  Var hinge = model_->addVar("hinge", 0, INFINITY);
+  vars_.push_back(hinge);
+  ineqs_.push_back(affexpr);
+  exprDec(ineqs_.back(), hinge);
+  AffExpr hinge_cost = exprMult(AffExpr(hinge), coeff);
+  exprInc(quad_, hinge_cost);
+}
+
+void ConvexObjective::addAbs(const AffExpr& affexpr, double coeff)
+{
+  Var neg = model_->addVar("neg", 0, INFINITY);
+  Var pos = model_->addVar("pos", 0, INFINITY);
+  vars_.push_back(neg);
+  vars_.push_back(pos);
+  AffExpr neg_plus_pos;
+  neg_plus_pos.coeffs = DblVec(2, coeff);
+  neg_plus_pos.vars.push_back(neg);
+  neg_plus_pos.vars.push_back(pos);
+  exprInc(quad_, neg_plus_pos);
+  AffExpr affeq = affexpr;
+  affeq.vars.push_back(neg);
+  affeq.vars.push_back(pos);
+  affeq.coeffs.push_back(1);
+  affeq.coeffs.push_back(-1);
+  eqs_.push_back(affeq);
+}
+
+void ConvexObjective::addHinges(const AffExprVector& ev)
+{
+  for (size_t i = 0; i < ev.size(); ++i)
+    addHinge(ev[i], 1);
+}
+
+void ConvexObjective::addL1Norm(const AffExprVector& ev)
+{
+  for (size_t i = 0; i < ev.size(); ++i)
+    addAbs(ev[i], 1);
+}
+
+void ConvexObjective::addL2Norm(const AffExprVector& ev)
+{
+  for (size_t i = 0; i < ev.size(); ++i)
+    exprInc(quad_, exprSquare(ev[i]));
+}
+
+void ConvexObjective::addMax(const AffExprVector& ev)
+{
+  Var m = model_->addVar("max", -INFINITY, INFINITY);
+  for (size_t i = 0; i < ev.size(); ++i)
+  {
+    ineqs_.push_back(ev[i]);
+    exprDec(ineqs_.back(), m);
+  }
+}
+
+void ConvexObjective::addConstraintsToModel()
+{
+  cnts_.reserve(eqs_.size() + ineqs_.size());
+  for (const AffExpr& aff : eqs_)
+  {
+    cnts_.push_back(model_->addEqCnt(aff, ""));
+  }
+  for (const AffExpr& aff : ineqs_)
+  {
+    cnts_.push_back(model_->addIneqCnt(aff, ""));
+  }
+}
+
+void ConvexObjective::removeFromModel()
+{
+  model_->removeCnts(cnts_);
+  model_->removeVars(vars_);
+  model_ = nullptr;
+}
+ConvexObjective::~ConvexObjective()
+{
+  if (inModel())
+    removeFromModel();
+}
+
+void ConvexConstraints::addEqCnt(const AffExpr& aff) { eqs_.push_back(aff); }
+void ConvexConstraints::addIneqCnt(const AffExpr& aff) { ineqs_.push_back(aff); }
+void ConvexConstraints::addConstraintsToModel()
+{
+  cnts_.reserve(eqs_.size() + ineqs_.size());
+  for (const AffExpr& aff : eqs_)
+  {
+    cnts_.push_back(model_->addEqCnt(aff, ""));
+  }
+  for (const AffExpr& aff : ineqs_)
+  {
+    cnts_.push_back(model_->addIneqCnt(aff, ""));
+  }
+}
+
+void ConvexConstraints::removeFromModel()
+{
+  model_->removeCnts(cnts_);
+  model_ = nullptr;
+}
+
+DblVec ConvexConstraints::violations(const DblVec& x)
+{
+  DblVec out;
+  out.reserve(eqs_.size() + ineqs_.size());
+  for (const AffExpr& aff : eqs_)
+    out.push_back(fabs(aff.value(x.data())));
+  for (const AffExpr& aff : ineqs_)
+    out.push_back(pospart(aff.value(x.data())));
+  return out;
+}
+double ConvexConstraints::violation(const DblVec& x) { return vecSum(violations(x)); }
+ConvexConstraints::~ConvexConstraints()
+{
+  if (inModel())
+    removeFromModel();
+}
+
+double ConvexObjective::value(const DblVec& x) { return quad_.value(x); }
+DblVec Constraint::violations(const DblVec& x)
+{
+  DblVec val = value(x);
+  DblVec out(val.size());
+
+  if (type() == EQ)
+  {
+    for (size_t i = 0; i < val.size(); ++i)
+      out[i] = fabs(val[i]);
+  }
+  else
+  {  // type() == INEQ
+    for (size_t i = 0; i < val.size(); ++i)
+      out[i] = pospart(val[i]);
+  }
+
+  return out;
+}
+
+double Constraint::violation(const DblVec& x) { return vecSum(violations(x)); }
+OptProb::OptProb(ModelType convex_solver) : model_(createModel(convex_solver)) {}
+VarVector OptProb::createVariables(const std::vector<std::string>& var_names)
+{
+  return createVariables(var_names, DblVec(var_names.size(), -INFINITY), DblVec(var_names.size(), INFINITY));
+}
+
+VarVector OptProb::createVariables(const std::vector<std::string>& var_names, const DblVec& lb, const DblVec& ub)
+{
+  size_t n_add = var_names.size(), n_cur = vars_.size();
+  assert(lb.size() == n_add);
+  assert(ub.size() == n_add);
+  vars_.reserve(n_cur + n_add);
+  lower_bounds_.reserve(n_cur + n_add);
+  upper_bounds_.reserve(n_cur + n_add);
+  for (size_t i = 0; i < var_names.size(); ++i)
+  {
+    vars_.push_back(model_->addVar(var_names[i], lb[i], ub[i]));
+    lower_bounds_.push_back(lb[i]);
+    upper_bounds_.push_back(ub[i]);
+  }
+  model_->update();
+  return VarVector(vars_.end() - static_cast<long int>(n_add), vars_.end());
+}
+
+void OptProb::setLowerBounds(const DblVec& lb)
+{
+  assert(lb.size() == vars_.size());
+  lower_bounds_ = lb;
+}
+
+void OptProb::setUpperBounds(const DblVec& ub)
+{
+  assert(ub.size() == vars_.size());
+  upper_bounds_ = ub;
+}
+
+void OptProb::setLowerBounds(const DblVec& lb, const VarVector& vars) { setVec(lower_bounds_, vars, lb); }
+void OptProb::setUpperBounds(const DblVec& ub, const VarVector& vars) { setVec(upper_bounds_, vars, ub); }
+void OptProb::addCost(CostPtr cost) { costs_.push_back(cost); }
+void OptProb::addConstraint(ConstraintPtr cnt)
+{
+  if (cnt->type() == EQ)
+    addEqConstraint(cnt);
+  else
+    addIneqConstraint(cnt);
+}
+
+void OptProb::addEqConstraint(ConstraintPtr cnt)
+{
+  assert(cnt->type() == EQ);
+  eqcnts_.push_back(cnt);
+}
+
+void OptProb::addIneqConstraint(ConstraintPtr cnt)
+{
+  assert(cnt->type() == INEQ);
+  ineqcnts_.push_back(cnt);
+}
+
+std::vector<ConstraintPtr> OptProb::getConstraints() const
+{
+  std::vector<ConstraintPtr> out;
+  out.reserve(eqcnts_.size() + ineqcnts_.size());
+  out.insert(out.end(), eqcnts_.begin(), eqcnts_.end());
+  out.insert(out.end(), ineqcnts_.begin(), ineqcnts_.end());
+  return out;
+}
+
+void OptProb::addLinearConstraint(const AffExpr& expr, ConstraintType type)
+{
+  if (type == EQ)
+    model_->addEqCnt(expr, "");
+  else
+    model_->addIneqCnt(expr, "");
+}
+
+DblVec OptProb::getCentralFeasiblePoint(const DblVec& x)
+{
+  assert(x.size() == lower_bounds_.size());
+  DblVec center(x.size());
+  for (unsigned i = 0; i < x.size(); ++i)
+    center[i] = (lower_bounds_[i] + upper_bounds_[i]) / 2;
+  return getClosestFeasiblePoint(center);
+}
+
+DblVec OptProb::getClosestFeasiblePoint(const DblVec& x)
+{
+  LOG_DEBUG("getClosestFeasiblePoint");
+  assert(vars_.size() == x.size());
+  QuadExpr obj;
+  for (unsigned i = 0; i < x.size(); ++i)
+  {
+    exprInc(obj, exprSquare(exprSub(AffExpr(vars_[i]), x[i])));
+  }
+  model_->setVarBounds(vars_, lower_bounds_, upper_bounds_);
+  model_->setObjective(obj);
+  CvxOptStatus status = model_->optimize();
+  if (status != CVX_SOLVED)
+  {
+    model_->writeToFile("/tmp/fail.lp");
+    PRINT_AND_THROW("couldn't find a feasible point. there's probably a "
+                    "problem with variable bounds (e.g. joint limits). wrote "
+                    "to /tmp/fail.lp");
+  }
+  return model_->getVarValues(vars_);
+}
+}  // namespace sco
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
new file mode 100644
index 0000000000..79e49e7850
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
@@ -0,0 +1,266 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Eigenvalues>
+#include <iostream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_utils/eigen_conversions.hpp>
+
+namespace sco
+{
+const double DEFAULT_EPSILON = 1e-5;
+
+Eigen::VectorXd getVec(const DblVec& x, const VarVector& vars)
+{
+  Eigen::VectorXd out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+    out[i] = x[static_cast<long unsigned int>(vars[i].var_rep->index)];
+  return out;
+}
+
+DblVec getDblVec(const DblVec& x, const VarVector& vars)
+{
+  DblVec out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+    out[i] = x[static_cast<long unsigned int>(vars[i].var_rep->index)];
+  return out;
+}
+
+AffExpr affFromValGrad(double y, const Eigen::VectorXd& x, const Eigen::VectorXd& dydx, const VarVector& vars)
+{
+  AffExpr aff;
+  aff.constant = y - dydx.dot(x);
+  aff.coeffs = util::toDblVec(dydx);
+  aff.vars = vars;
+  aff = cleanupAff(aff);
+  return aff;
+}
+
+CostFromFunc::CostFromFunc(ScalarOfVectorPtr f, const VarVector& vars, const std::string& name, bool full_hessian)
+  : Cost(name), f_(f), vars_(vars), full_hessian_(full_hessian), epsilon_(DEFAULT_EPSILON)
+{
+}
+
+double CostFromFunc::value(const DblVec& xin)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  return f_->call(x);
+}
+
+ConvexObjectivePtr CostFromFunc::convex(const DblVec& xin, Model* model)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+
+  ConvexObjectivePtr out(new ConvexObjective(model));
+  if (!full_hessian_)
+  {
+    double val;
+    Eigen::VectorXd grad, hess;
+    calcGradAndDiagHess(*f_, x, epsilon_, val, grad, hess);
+    hess = hess.cwiseMax(Eigen::VectorXd::Zero(hess.size()));
+    QuadExpr& quad = out->quad_;
+    quad.affexpr.constant = val - grad.dot(x) + .5 * x.dot(hess.cwiseProduct(x));
+    quad.affexpr.vars = vars_;
+    quad.affexpr.coeffs = util::toDblVec(grad - hess.cwiseProduct(x));
+    quad.vars1 = vars_;
+    quad.vars2 = vars_;
+    quad.coeffs = util::toDblVec(hess * .5);
+  }
+  else
+  {
+    double val;
+    Eigen::VectorXd grad;
+    Eigen::MatrixXd hess;
+    calcGradHess(f_, x, epsilon_, val, grad, hess);
+
+    Eigen::MatrixXd pos_hess = Eigen::MatrixXd::Zero(x.size(), x.size());
+    Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> es(hess);
+    Eigen::VectorXd eigvals = es.eigenvalues();
+    Eigen::MatrixXd eigvecs = es.eigenvectors();
+    for (long int i = 0, end = x.size(); i != end; ++i)
+    {  // tricky --- eigen size() is signed
+      if (eigvals(i) > 0)
+        pos_hess += eigvals(i) * eigvecs.col(i) * eigvecs.col(i).transpose();
+    }
+
+    QuadExpr& quad = out->quad_;
+    quad.affexpr.constant = val - grad.dot(x) + .5 * x.dot(pos_hess * x);
+    quad.affexpr.vars = vars_;
+    quad.affexpr.coeffs = util::toDblVec(grad - pos_hess * x);
+
+    size_t nquadterms = static_cast<size_t>((x.size() * (x.size() - 1)) / 2);
+    quad.coeffs.reserve(nquadterms);
+    quad.vars1.reserve(nquadterms);
+    quad.vars2.reserve(nquadterms);
+    for (long int i = 0, end = x.size(); i != end; ++i)
+    {  // tricky --- eigen size() is signed
+      quad.vars1.push_back(vars_[static_cast<size_t>(i)]);
+      quad.vars2.push_back(vars_[static_cast<size_t>(i)]);
+      quad.coeffs.push_back(pos_hess(i, i) / 2);
+      for (long int j = i + 1; j != end; ++j)
+      {  // tricky --- eigen size() is signed
+        quad.vars1.push_back(vars_[static_cast<size_t>(i)]);
+        quad.vars2.push_back(vars_[static_cast<size_t>(j)]);
+        quad.coeffs.push_back(pos_hess(i, j));
+      }
+    }
+  }
+
+  return out;
+}
+
+CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f,
+                                 const VarVector& vars,
+                                 const Eigen::VectorXd& coeffs,
+                                 PenaltyType pen_type,
+                                 const std::string& name)
+  : Cost(name), f_(f), vars_(vars), coeffs_(coeffs), pen_type_(pen_type), epsilon_(DEFAULT_EPSILON)
+{
+}
+CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f,
+                                 MatrixOfVectorPtr dfdx,
+                                 const VarVector& vars,
+                                 const Eigen::VectorXd& coeffs,
+                                 PenaltyType pen_type,
+                                 const std::string& name)
+  : Cost(name), f_(f), dfdx_(dfdx), vars_(vars), coeffs_(coeffs), pen_type_(pen_type), epsilon_(DEFAULT_EPSILON)
+{
+}
+double CostFromErrFunc::value(const DblVec& xin)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  Eigen::VectorXd err = f_->call(x);
+
+  switch (pen_type_)
+  {
+    case SQUARED:
+      err = err.array().square();
+      break;
+    case ABS:
+      err = err.array().abs();
+      break;
+    case HINGE:
+      err = err.cwiseMax(Eigen::VectorXd::Zero(err.size()));
+      break;
+    default:
+      assert(0 && "unreachable");
+  }
+
+  if (coeffs_.size() > 0)
+    err.array() *= coeffs_.array();
+
+  return err.array().sum();
+}
+ConvexObjectivePtr CostFromErrFunc::convex(const DblVec& xin, Model* model)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  Eigen::MatrixXd jac = (dfdx_) ? dfdx_->call(x) : calcForwardNumJac(*f_, x, epsilon_);
+  ConvexObjectivePtr out(new ConvexObjective(model));
+  Eigen::VectorXd y = f_->call(x);
+  for (int i = 0; i < jac.rows(); ++i)
+  {
+    AffExpr aff = affFromValGrad(y[i], x, jac.row(i), vars_);
+    double weight = 1;
+    if (coeffs_.size() > 0)
+    {
+      if (coeffs_[i] == 0)
+        continue;
+
+      weight = coeffs_[i];
+    }
+    switch (pen_type_)
+    {
+      case SQUARED:
+      {
+        QuadExpr quad = exprSquare(aff);
+        exprScale(quad, weight);
+        out->addQuadExpr(quad);
+        break;
+      }
+      case ABS:
+      {
+        exprScale(aff, weight);
+        out->addAbs(aff, 1);
+        break;
+      }
+      case HINGE:
+      {
+        exprScale(aff, weight);
+        out->addHinge(aff, 1);
+        break;
+      }
+      default:
+        assert(0 && "unreachable");
+    }
+  }
+  return out;
+}
+
+ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f,
+                                             const VarVector& vars,
+                                             const Eigen::VectorXd& coeffs,
+                                             ConstraintType type,
+                                             const std::string& name)
+  : Constraint(name), f_(f), vars_(vars), coeffs_(coeffs), type_(type), epsilon_(DEFAULT_EPSILON)
+{
+}
+
+ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f,
+                                             MatrixOfVectorPtr dfdx,
+                                             const VarVector& vars,
+                                             const Eigen::VectorXd& coeffs,
+                                             ConstraintType type,
+                                             const std::string& name)
+  : Constraint(name), f_(f), dfdx_(dfdx), vars_(vars), coeffs_(coeffs), type_(type), epsilon_(DEFAULT_EPSILON)
+{
+}
+
+DblVec ConstraintFromErrFunc::value(const DblVec& xin)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  Eigen::VectorXd err = f_->call(x);
+  if (coeffs_.size() > 0)
+    err.array() *= coeffs_.array();
+  return util::toDblVec(err);
+}
+
+ConvexConstraintsPtr ConstraintFromErrFunc::convex(const DblVec& xin, Model* model)
+{
+  Eigen::VectorXd x = getVec(xin, vars_);
+  Eigen::MatrixXd jac = (dfdx_) ? dfdx_->call(x) : calcForwardNumJac(*f_, x, epsilon_);
+  ConvexConstraintsPtr out(new ConvexConstraints(model));
+  Eigen::VectorXd y = f_->call(x);
+  for (int i = 0; i < jac.rows(); ++i)
+  {
+    AffExpr aff = affFromValGrad(y[i], x, jac.row(i), vars_);
+    if (coeffs_.size() > 0)
+    {
+      if (coeffs_[i] == 0)
+        continue;
+      exprScale(aff, coeffs_[i]);
+    }
+    if (type() == INEQ)
+      out->addIneqCnt(aff);
+    else
+      out->addEqCnt(aff);
+  }
+  return out;
+}
+
+std::string AffExprToString(const AffExpr& aff)
+{
+  std::string out;
+  for (size_t i = 0; i < aff.vars.size(); i++)
+  {
+    if (i != 0)
+      out.append(" + ");
+    std::string term = std::to_string(aff.coeffs[i]) + "*" + aff.vars[i].var_rep->name;
+    out.append(term);
+  }
+  out.append(" + " + std::to_string(aff.constant));
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp b/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
new file mode 100644
index 0000000000..f7e459aa01
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
@@ -0,0 +1,118 @@
+#include <trajopt_sco/num_diff.hpp>
+
+namespace sco
+{
+ScalarOfVectorPtr ScalarOfVector::construct(const func& f)
+{
+  struct F : public ScalarOfVector
+  {
+    func f;
+    F(const func& _f) : f(_f) {}
+    double operator()(const Eigen::VectorXd& x) const override { return f(x); }
+  };
+  ScalarOfVector* sov = new F(f);  // to avoid erroneous clang warning
+  return ScalarOfVectorPtr(sov);
+}
+VectorOfVectorPtr VectorOfVector::construct(const func& f)
+{
+  struct F : public VectorOfVector
+  {
+    func f;
+    F(const func& _f) : f(_f) {}
+    Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override { return f(x); }
+  };
+  VectorOfVector* vov = new F(f);  // to avoid erroneous clang warning
+  return VectorOfVectorPtr(vov);
+}
+
+Eigen::VectorXd calcForwardNumGrad(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon)
+{
+  Eigen::VectorXd out(x.size());
+  Eigen::VectorXd xpert = x;
+  double y = f(x);
+  for (int i = 0; i < x.size(); ++i)
+  {
+    xpert(i) = x(i) + epsilon;
+    double ypert = f(xpert);
+    out(i) = (ypert - y) / epsilon;
+    xpert(i) = x(i);
+  }
+  return out;
+}
+Eigen::MatrixXd calcForwardNumJac(const VectorOfVector& f, const Eigen::VectorXd& x, double epsilon)
+{
+  Eigen::VectorXd y = f(x);
+  Eigen::MatrixXd out(y.size(), x.size());
+  Eigen::VectorXd xpert = x;
+  for (int i = 0; i < x.size(); ++i)
+  {
+    xpert(i) = x(i) + epsilon;
+    Eigen::VectorXd ypert = f(xpert);
+    out.col(i) = (ypert - y) / epsilon;
+    xpert(i) = x(i);
+  }
+  return out;
+}
+
+void calcGradAndDiagHess(const ScalarOfVector& f,
+                         const Eigen::VectorXd& x,
+                         double epsilon,
+                         double& y,
+                         Eigen::VectorXd& grad,
+                         Eigen::VectorXd& hess)
+{
+  y = f(x);
+  grad.resize(x.size());
+  hess.resize(x.size());
+  Eigen::VectorXd xpert = x;
+  for (int i = 0; i < x.size(); ++i)
+  {
+    xpert(i) = x(i) + epsilon / 2;
+    double yplus = f(xpert);
+    xpert(i) = x(i) - epsilon / 2;
+    double yminus = f(xpert);
+    grad(i) = (yplus - yminus) / epsilon;
+    hess(i) = (yplus + yminus - 2 * y) / (epsilon * epsilon / 4);
+    xpert(i) = x(i);
+  }
+}
+
+void calcGradHess(ScalarOfVectorPtr f,
+                  const Eigen::VectorXd& x,
+                  double epsilon,
+                  double& y,
+                  Eigen::VectorXd& grad,
+                  Eigen::MatrixXd& hess)
+{
+  y = f->call(x);
+  VectorOfVectorPtr grad_func = forwardNumGrad(f, epsilon);
+  grad = grad_func->call(x);
+  hess = calcForwardNumJac(*grad_func, x, epsilon);
+  hess = (hess + hess.transpose()) / 2;
+}
+
+struct ForwardNumGrad : public VectorOfVector
+{
+  ScalarOfVectorPtr f_;
+  double epsilon_;
+  ForwardNumGrad(ScalarOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon) {}
+  Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override { return calcForwardNumGrad(*f_, x, epsilon_); }
+};
+
+struct ForwardNumJac : public MatrixOfVector
+{
+  VectorOfVectorPtr f_;
+  double epsilon_;
+  ForwardNumJac(VectorOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon) {}
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const override { return calcForwardNumJac(*f_, x, epsilon_); }
+};
+
+VectorOfVectorPtr forwardNumGrad(ScalarOfVectorPtr f, double epsilon)
+{
+  return VectorOfVectorPtr(new ForwardNumGrad(f, epsilon));
+}
+MatrixOfVectorPtr forwardNumJac(VectorOfVectorPtr f, double epsilon)
+{
+  return MatrixOfVectorPtr(new ForwardNumJac(f, epsilon));
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
new file mode 100644
index 0000000000..483147ceb0
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
@@ -0,0 +1,491 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/format.hpp>
+#include <cmath>
+#include <cstdio>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/modeling.hpp>
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/macros.h>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace sco
+{
+std::ostream& operator<<(std::ostream& o, const OptResults& r)
+{
+  o << "Optimization results:" << std::endl
+    << "status: " << statusToString(r.status) << std::endl
+    << "cost values: " << util::Str(r.cost_vals) << std::endl
+    << "constraint violations: " << util::Str(r.cnt_viols) << std::endl
+    << "n func evals: " << r.n_func_evals << std::endl
+    << "n qp solves: " << r.n_qp_solves << std::endl;
+  return o;
+}
+
+//////////////////////////////////////////////////
+////////// private utility functions for  sqp /////////
+//////////////////////////////////////////////////
+
+static DblVec evaluateCosts(const std::vector<CostPtr>& costs, const DblVec& x)
+{
+  DblVec out(costs.size());
+  for (size_t i = 0; i < costs.size(); ++i)
+  {
+    out[i] = costs[i]->value(x);
+  }
+  return out;
+}
+static DblVec evaluateConstraintViols(const std::vector<ConstraintPtr>& constraints, const DblVec& x)
+{
+  DblVec out(constraints.size());
+  for (size_t i = 0; i < constraints.size(); ++i)
+  {
+    out[i] = constraints[i]->violation(x);
+  }
+  return out;
+}
+static std::vector<ConvexObjectivePtr> convexifyCosts(const std::vector<CostPtr>& costs, const DblVec& x, Model* model)
+{
+  std::vector<ConvexObjectivePtr> out(costs.size());
+  for (size_t i = 0; i < costs.size(); ++i)
+  {
+    out[i] = costs[i]->convex(x, model);
+  }
+  return out;
+}
+static std::vector<ConvexConstraintsPtr> convexifyConstraints(const std::vector<ConstraintPtr>& cnts,
+                                                              const DblVec& x,
+                                                              Model* model)
+{
+  std::vector<ConvexConstraintsPtr> out(cnts.size());
+  for (size_t i = 0; i < cnts.size(); ++i)
+  {
+    out[i] = cnts[i]->convex(x, model);
+  }
+  return out;
+}
+
+DblVec evaluateModelCosts(const std::vector<ConvexObjectivePtr>& costs, const DblVec& x)
+{
+  DblVec out(costs.size());
+  for (size_t i = 0; i < costs.size(); ++i)
+  {
+    out[i] = costs[i]->value(x);
+  }
+  return out;
+}
+DblVec evaluateModelCntViols(const std::vector<ConvexConstraintsPtr>& cnts, const DblVec& x)
+{
+  DblVec out(cnts.size());
+  for (size_t i = 0; i < cnts.size(); ++i)
+  {
+    out[i] = cnts[i]->violation(x);
+  }
+  return out;
+}
+
+static std::vector<std::string> getCostNames(const std::vector<CostPtr>& costs)
+{
+  std::vector<std::string> out(costs.size());
+  for (size_t i = 0; i < costs.size(); ++i)
+    out[i] = costs[i]->name();
+  return out;
+}
+static std::vector<std::string> getCntNames(const std::vector<ConstraintPtr>& cnts)
+{
+  std::vector<std::string> out(cnts.size());
+  for (size_t i = 0; i < cnts.size(); ++i)
+    out[i] = cnts[i]->name();
+  return out;
+}
+
+void printCostInfo(const DblVec& old_cost_vals,
+                   const DblVec& model_cost_vals,
+                   const DblVec& new_cost_vals,
+                   const DblVec& old_cnt_vals,
+                   const DblVec& model_cnt_vals,
+                   const DblVec& new_cnt_vals,
+                   const std::vector<std::string>& cost_names,
+                   const std::vector<std::string>& cnt_names,
+                   double merit_coeff)
+{
+  std::printf("%15s | %10s | %10s | %10s | %10s\n", "", "oldexact", "dapprox", "dexact", "ratio");
+  std::printf("%15s | %10s---%10s---%10s---%10s\n", "COSTS", "----------", "----------", "----------", "----------");
+  for (size_t i = 0; i < old_cost_vals.size(); ++i)
+  {
+    double approx_improve = old_cost_vals[i] - model_cost_vals[i];
+    double exact_improve = old_cost_vals[i] - new_cost_vals[i];
+    if (fabs(approx_improve) > 1e-8)
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
+                  cost_names[i].c_str(),
+                  old_cost_vals[i],
+                  approx_improve,
+                  exact_improve,
+                  exact_improve / approx_improve);
+    else
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n",
+                  cost_names[i].c_str(),
+                  old_cost_vals[i],
+                  approx_improve,
+                  exact_improve,
+                  "  ------  ");
+  }
+  if (cnt_names.size() == 0)
+    return;
+  std::printf("%15s | %10s---%10s---%10s---%10s\n",
+              "CONSTRAINTS",
+              "----------",
+              "----------",
+              "----------",
+              "---------"
+              "-");
+  for (size_t i = 0; i < old_cnt_vals.size(); ++i)
+  {
+    double approx_improve = old_cnt_vals[i] - model_cnt_vals[i];
+    double exact_improve = old_cnt_vals[i] - new_cnt_vals[i];
+    if (fabs(approx_improve) > 1e-8)
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
+                  cnt_names[i].c_str(),
+                  merit_coeff * old_cnt_vals[i],
+                  merit_coeff * approx_improve,
+                  merit_coeff * exact_improve,
+                  exact_improve / approx_improve);
+    else
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n",
+                  cnt_names[i].c_str(),
+                  merit_coeff * old_cnt_vals[i],
+                  merit_coeff * approx_improve,
+                  merit_coeff * exact_improve,
+                  "  ------  ");
+  }
+}
+
+// todo: use different coeffs for each constraint
+std::vector<ConvexObjectivePtr> cntsToCosts(const std::vector<ConvexConstraintsPtr>& cnts,
+                                            double err_coeff,
+                                            Model* model)
+{
+  std::vector<ConvexObjectivePtr> out;
+  for (const ConvexConstraintsPtr& cnt : cnts)
+  {
+    ConvexObjectivePtr obj(new ConvexObjective(model));
+    for (const AffExpr& aff : cnt->eqs_)
+    {
+      obj->addAbs(aff, err_coeff);
+    }
+    for (const AffExpr& aff : cnt->ineqs_)
+    {
+      obj->addHinge(aff, err_coeff);
+    }
+    out.push_back(obj);
+  }
+  return out;
+}
+
+void Optimizer::addCallback(const Callback& cb) { callbacks_.push_back(cb); }
+void Optimizer::callCallbacks()
+{
+  for (unsigned i = 0; i < callbacks_.size(); ++i)
+  {
+    callbacks_[i](prob_.get(), results_);
+  }
+}
+
+void Optimizer::initialize(const DblVec& x)
+{
+  if (!prob_)
+    PRINT_AND_THROW("need to set the problem before initializing");
+  if (prob_->getVars().size() != x.size())
+    PRINT_AND_THROW(boost::format("initialization vector has wrong length. expected %i got %i") %
+                    prob_->getVars().size() % x.size());
+  results_.clear();
+  results_.x = x;
+}
+
+BasicTrustRegionSQPParameters::BasicTrustRegionSQPParameters()
+{
+  improve_ratio_threshold = 0.25;
+  min_trust_box_size = 1e-4;
+  min_approx_improve = 1e-4;
+  min_approx_improve_frac = -INFINITY;
+  max_iter = 50;
+  trust_shrink_ratio = 0.1;
+  trust_expand_ratio = 1.5;
+  cnt_tolerance = 1e-4;
+  max_merit_coeff_increases = 5;
+  merit_coeff_increase_ratio = 10;
+  max_time = INFINITY;
+  merit_error_coeff = 10;
+  trust_box_size = 1e-1;
+}
+
+BasicTrustRegionSQP::BasicTrustRegionSQP() {}
+BasicTrustRegionSQP::BasicTrustRegionSQP(OptProbPtr prob) { setProblem(prob); }
+void BasicTrustRegionSQP::setProblem(OptProbPtr prob)
+{
+  Optimizer::setProblem(prob);
+  model_ = prob->getModel();
+}
+
+void BasicTrustRegionSQP::adjustTrustRegion(double ratio) { param_.trust_box_size *= ratio; }
+void BasicTrustRegionSQP::setTrustBoxConstraints(const DblVec& x)
+{
+  const VarVector& vars = prob_->getVars();
+  assert(vars.size() == x.size());
+  const DblVec &lb = prob_->getLowerBounds(), ub = prob_->getUpperBounds();
+  DblVec lbtrust(x.size()), ubtrust(x.size());
+  for (size_t i = 0; i < x.size(); ++i)
+  {
+    lbtrust[i] = fmax(x[i] - param_.trust_box_size, lb[i]);
+    ubtrust[i] = fmin(x[i] + param_.trust_box_size, ub[i]);
+  }
+  model_->setVarBounds(vars, lbtrust, ubtrust);
+}
+
+#if 0
+struct MultiCritFilter {
+  /**
+   * Checks if you're making an improvement on a multidimensional objective
+   * Given a set of past error vectors, the improvement is defined as
+   * min_{olderrvec in past_err_vecs} | olderrvec - errvec |^+
+   */
+  vector<DblVec> errvecs;
+  double improvement(const DblVec& errvec) {
+    double leastImprovement=INFINITY;
+    for (const DblVec& olderrvec : errvecs) {
+      double improvement=0;
+      for (int i=0; i < errvec.size(); ++i) improvement += pospart(olderrvec[i] - errvec[i]);
+      leastImprovement = fmin(leastImprovement, improvement);
+    }
+    return leastImprovement;
+  }
+  void insert(const DblVec& x) {errvecs.push_back(x);}
+  bool empty() {return errvecs.size() > 0;}
+};
+#endif
+
+OptStatus BasicTrustRegionSQP::optimize()
+{
+  std::vector<std::string> cost_names = getCostNames(prob_->getCosts());
+  std::vector<ConstraintPtr> constraints = prob_->getConstraints();
+  std::vector<std::string> cnt_names = getCntNames(constraints);
+
+  if (results_.x.size() == 0)
+    PRINT_AND_THROW("you forgot to initialize!");
+  if (!prob_)
+    PRINT_AND_THROW("you forgot to set the optimization problem");
+
+  results_.x = prob_->getClosestFeasiblePoint(results_.x);
+
+  assert(results_.x.size() == prob_->getVars().size());
+  assert(prob_->getCosts().size() > 0 || constraints.size() > 0);
+
+  OptStatus retval = INVALID;
+
+  for (int merit_increases = 0; merit_increases < param_.max_merit_coeff_increases; ++merit_increases)
+  { /* merit adjustment loop */
+    for (int iter = 1;; ++iter)
+    { /* sqp loop */
+      callCallbacks();
+
+      LOG_DEBUG("current iterate: %s", CSTR(results_.x));
+      LOG_INFO("iteration %i", iter);
+
+      // speedup: if you just evaluated the cost when doing the line search, use
+      // that
+      if (results_.cost_vals.empty() && results_.cnt_viols.empty())
+      {  // only happens on the first iteration
+        results_.cnt_viols = evaluateConstraintViols(constraints, results_.x);
+        results_.cost_vals = evaluateCosts(prob_->getCosts(), results_.x);
+        assert(results_.n_func_evals == 0);
+        ++results_.n_func_evals;
+      }
+
+      // DblVec new_cnt_viols = evaluateConstraintViols(constraints, results_.x);
+      // DblVec new_cost_vals = evaluateCosts(prob_->getCosts(), results_.x);
+      // cout << "costs" << endl;
+      // for (int i=0; i < new_cnt_viols.size(); ++i) {
+      //   cout << cnt_names[i] << " " << new_cnt_viols[i] -
+      //   results_.cnt_viols[i] << endl;
+      // }
+      // for (int i=0; i < new_cost_vals.size(); ++i) {
+      //   cout << cost_names[i] << " " << new_cost_vals[i] -
+      //   results_.cost_vals[i] << endl;
+      // }
+
+      std::vector<ConvexObjectivePtr> cost_models = convexifyCosts(prob_->getCosts(), results_.x, model_.get());
+      std::vector<ConvexConstraintsPtr> cnt_models = convexifyConstraints(constraints, results_.x, model_.get());
+      std::vector<ConvexObjectivePtr> cnt_cost_models = cntsToCosts(cnt_models, param_.merit_error_coeff, model_.get());
+      model_->update();
+      for (ConvexObjectivePtr& cost : cost_models)
+        cost->addConstraintsToModel();
+      for (ConvexObjectivePtr& cost : cnt_cost_models)
+        cost->addConstraintsToModel();
+      model_->update();
+      QuadExpr objective;
+      for (ConvexObjectivePtr& co : cost_models)
+        exprInc(objective, co->quad_);
+      for (ConvexObjectivePtr& co : cnt_cost_models)
+        exprInc(objective, co->quad_);
+
+      //    objective = cleanupExpr(objective);
+      model_->setObjective(objective);
+
+      //    if (logging::filter() >= IPI_LEVEL_DEBUG) {
+      //      DblVec model_cost_vals;
+      //      for (ConvexObjectivePtr& cost : cost_models) {
+      //        model_cost_vals.push_back(cost->value(x));
+      //      }
+      //      LOG_DEBUG("model costs %s should equalcosts  %s",
+      //      printer(model_cost_vals), printer(cost_vals));
+      //    }
+
+      while (param_.trust_box_size >= param_.min_trust_box_size)
+      {
+        setTrustBoxConstraints(results_.x);
+        CvxOptStatus status = model_->optimize();
+        ++results_.n_qp_solves;
+        if (status != CVX_SOLVED)
+        {
+          LOG_ERROR("convex solver failed! set TRAJOPT_LOG_THRESH=DEBUG to see "
+                    "solver output. saving model to /tmp/fail.lp and IIS to "
+                    "/tmp/fail.ilp");
+          model_->writeToFile("/tmp/fail.lp");
+          model_->writeToFile("/tmp/fail.ilp");
+          retval = OPT_FAILED;
+          goto cleanup;
+        }
+        DblVec model_var_vals = model_->getVarValues(model_->getVars());
+
+        DblVec model_cost_vals = evaluateModelCosts(cost_models, model_var_vals);
+        DblVec model_cnt_viols = evaluateModelCntViols(cnt_models, model_var_vals);
+
+        // the n variables of the OptProb happen to be the first n variables in
+        // the Model
+        DblVec new_x(model_var_vals.begin(), model_var_vals.begin() + static_cast<long int>(results_.x.size()));
+
+        if (util::GetLogLevel() >= util::LevelDebug)
+        {
+          DblVec cnt_costs1 = evaluateModelCosts(cnt_cost_models, model_var_vals);
+          DblVec cnt_costs2 = model_cnt_viols;
+          for (unsigned i = 0; i < cnt_costs2.size(); ++i)
+            cnt_costs2[i] *= param_.merit_error_coeff;
+          LOG_DEBUG("SHOULD BE ALMOST THE SAME: %s ?= %s", CSTR(cnt_costs1), CSTR(cnt_costs2));
+          // not exactly the same because cnt_costs1 is based on aux variables,
+          // but they might not be at EXACTLY the right value
+        }
+
+        DblVec new_cost_vals = evaluateCosts(prob_->getCosts(), new_x);
+        DblVec new_cnt_viols = evaluateConstraintViols(constraints, new_x);
+        ++results_.n_func_evals;
+
+        double old_merit = vecSum(results_.cost_vals) + param_.merit_error_coeff * vecSum(results_.cnt_viols);
+        double model_merit = vecSum(model_cost_vals) + param_.merit_error_coeff * vecSum(model_cnt_viols);
+        double new_merit = vecSum(new_cost_vals) + param_.merit_error_coeff * vecSum(new_cnt_viols);
+        double approx_merit_improve = old_merit - model_merit;
+        double exact_merit_improve = old_merit - new_merit;
+        double merit_improve_ratio = exact_merit_improve / approx_merit_improve;
+
+        if (util::GetLogLevel() >= util::LevelInfo)
+        {
+          LOG_INFO(" ");
+          printCostInfo(results_.cost_vals,
+                        model_cost_vals,
+                        new_cost_vals,
+                        results_.cnt_viols,
+                        model_cnt_viols,
+                        new_cnt_viols,
+                        cost_names,
+                        cnt_names,
+                        param_.merit_error_coeff);
+          std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
+                      "TOTAL",
+                      old_merit,
+                      approx_merit_improve,
+                      exact_merit_improve,
+                      merit_improve_ratio);
+        }
+
+        if (approx_merit_improve < -1e-5)
+        {
+          LOG_ERROR("approximate merit function got worse (%.3e). "
+                    "(convexification is probably wrong to zeroth order)",
+                    approx_merit_improve);
+        }
+        if (approx_merit_improve < param_.min_approx_improve)
+        {
+          LOG_INFO(
+              "converged because improvement was small (%.3e < %.3e)", approx_merit_improve, param_.min_approx_improve);
+          retval = OPT_CONVERGED;
+          goto penaltyadjustment;
+        }
+        if (approx_merit_improve / old_merit < param_.min_approx_improve_frac)
+        {
+          LOG_INFO("converged because improvement ratio was small (%.3e < %.3e)",
+                   approx_merit_improve / old_merit,
+                   param_.min_approx_improve_frac);
+          retval = OPT_CONVERGED;
+          goto penaltyadjustment;
+        }
+        else if (exact_merit_improve < 0 || merit_improve_ratio < param_.improve_ratio_threshold)
+        {
+          adjustTrustRegion(param_.trust_shrink_ratio);
+          LOG_INFO("shrunk trust region. new box size: %.4f", param_.trust_box_size);
+        }
+        else
+        {
+          results_.x = new_x;
+          results_.cost_vals = new_cost_vals;
+          results_.cnt_viols = new_cnt_viols;
+          adjustTrustRegion(param_.trust_expand_ratio);
+          LOG_INFO("expanded trust region. new box size: %.4f", param_.trust_box_size);
+          break;
+        }
+      }
+
+      if (param_.trust_box_size < param_.min_trust_box_size)
+      {
+        LOG_INFO("converged because trust region is tiny");
+        retval = OPT_CONVERGED;
+        goto penaltyadjustment;
+      }
+      else if (iter >= param_.max_iter)
+      {
+        LOG_INFO("iteration limit");
+        retval = OPT_SCO_ITERATION_LIMIT;
+        goto cleanup;
+      }
+    }
+
+  penaltyadjustment:
+    if (results_.cnt_viols.empty() || vecMax(results_.cnt_viols) < param_.cnt_tolerance)
+    {
+      if (results_.cnt_viols.size() > 0)
+        LOG_INFO("woo-hoo! constraints are satisfied (to tolerance %.2e)", param_.cnt_tolerance);
+      goto cleanup;
+    }
+    else
+    {
+      LOG_INFO("not all constraints are satisfied. increasing penalties");
+      param_.merit_error_coeff *= param_.merit_coeff_increase_ratio;
+      param_.trust_box_size = fmax(param_.trust_box_size, param_.min_trust_box_size / param_.trust_shrink_ratio * 1.5);
+    }
+  }
+  retval = OPT_PENALTY_ITERATION_LIMIT;
+  LOG_INFO("optimization couldn't satisfy all constraints");
+
+cleanup:
+  assert(retval != INVALID && "should never happen");
+  results_.status = retval;
+  results_.total_cost = vecSum(results_.cost_vals);
+  LOG_INFO("\n==================\n%s==================", CSTR(results_));
+  callCallbacks();
+
+  return retval;
+}
+}  // namespace sco
diff --git a/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
new file mode 100644
index 0000000000..bd1a18c8c3
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
@@ -0,0 +1,270 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <constants.h>
+#include <cmath>
+#include <Eigen/SparseCore>
+#include <fstream>
+#include <signal.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/osqp_interface.hpp>
+#include <trajopt_sco/solver_utils.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace sco
+{
+double OSQP_INFINITY = std::numeric_limits<double>::infinity();
+
+ModelPtr createOSQPModel()
+{
+  ModelPtr out(new OSQPModel());
+  return out;
+}
+
+OSQPModel::OSQPModel()
+{
+  // Define Solver settings as default
+  // see https://osqp.org/docs/interfaces/solver_settings.html#solver-settings
+  osqp_set_default_settings(&osqp_settings_);
+  // tuning parameters to be less accurate, but add a polishing step
+  osqp_settings_.eps_abs = 1e-4;
+  osqp_settings_.eps_rel = 1e-6;
+  osqp_settings_.max_iter = 8192;
+  osqp_settings_.polish = 1;
+  osqp_settings_.verbose = false;
+
+  // Initialize data
+  osqp_data_.A = nullptr;
+  osqp_data_.P = nullptr;
+  osqp_workspace_ = nullptr;
+}
+
+OSQPModel::~OSQPModel()
+{
+  // Cleanup
+  if (osqp_workspace_ != nullptr)
+    osqp_cleanup(osqp_workspace_);
+  if (osqp_data_.A != nullptr)
+    c_free(osqp_data_.A);
+  if (osqp_data_.P != nullptr)
+    c_free(osqp_data_.P);
+}
+
+Var OSQPModel::addVar(const std::string& name)
+{
+  vars_.push_back(new VarRep(vars_.size(), name, this));
+  lbs_.push_back(-OSQP_INFINITY);
+  ubs_.push_back(OSQP_INFINITY);
+  return vars_.back();
+}
+
+Cnt OSQPModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  cnts_.push_back(new CntRep(cnts_.size(), this));
+  cnt_exprs_.push_back(expr);
+  cnt_types_.push_back(EQ);
+  return cnts_.back();
+}
+
+Cnt OSQPModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  cnts_.push_back(new CntRep(cnts_.size(), this));
+  cnt_exprs_.push_back(expr);
+  cnt_types_.push_back(INEQ);
+  return cnts_.back();
+}
+
+Cnt OSQPModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/)
+{
+  throw std::runtime_error("NOT IMPLEMENTED");
+  return Cnt();
+}
+
+void OSQPModel::removeVars(const VarVector& vars)
+{
+  IntVec inds = vars2inds(vars);
+  for (unsigned i = 0; i < vars.size(); ++i)
+    vars[i].var_rep->removed = true;
+}
+
+void OSQPModel::removeCnts(const CntVector& cnts)
+{
+  IntVec inds = cnts2inds(cnts);
+  for (unsigned i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep->removed = true;
+}
+
+void OSQPModel::updateObjective()
+{
+  const size_t n = vars_.size();
+  osqp_data_.n = n;
+
+  Eigen::SparseMatrix<double> sm;
+  exprToEigen(objective_, sm, q_, n, true);
+  eigenToCSC(sm, P_row_indices_, P_column_pointers_, P_csc_data_);
+
+  if (osqp_data_.P != nullptr)
+    c_free(osqp_data_.P);
+  osqp_data_.P = csc_matrix(osqp_data_.n,
+                            osqp_data_.n,
+                            P_csc_data_.size(),
+                            P_csc_data_.data(),
+                            P_row_indices_.data(),
+                            P_column_pointers_.data());
+
+  osqp_data_.q = q_.data();
+}
+
+void OSQPModel::updateConstraints()
+{
+  const size_t n = vars_.size();
+  const size_t m = cnts_.size();
+  osqp_data_.m = m + n;
+
+  Eigen::SparseMatrix<double> sm;
+  Eigen::VectorXd v;
+  exprToEigen(cnt_exprs_, sm, v, n);
+  Eigen::SparseMatrix<double> sm_e(m + n, n);
+  Eigen::SparseMatrix<double> sm_e2 = sm;
+  sm.conservativeResize(m + n, Eigen::NoChange_t(n));
+
+  l_.clear();
+  l_.resize(m + n, -OSQP_INFINITY);
+  u_.clear();
+  u_.resize(m + n, OSQP_INFINITY);
+
+  for (int i_cnt = 0; i_cnt < m; ++i_cnt)
+  {
+    l_[i_cnt] = (cnt_types_[i_cnt] == INEQ) ? -OSQP_INFINITY : v[i_cnt];
+    u_[i_cnt] = v[i_cnt];
+  }
+
+  for (int i_bnd = 0; i_bnd < n; ++i_bnd)
+  {
+    l_[i_bnd + m] = fmax(lbs_[i_bnd], -OSQP_INFINITY);
+    u_[i_bnd + m] = fmin(ubs_[i_bnd], OSQP_INFINITY);
+    sm.insert(i_bnd + m, i_bnd) = 1.;
+  }
+
+  eigenToCSC(sm, A_row_indices_, A_column_pointers_, A_csc_data_);
+
+  if (osqp_data_.A != nullptr)
+    c_free(osqp_data_.A);
+  osqp_data_.A = csc_matrix(osqp_data_.m,
+                            osqp_data_.n,
+                            A_csc_data_.size(),
+                            A_csc_data_.data(),
+                            A_row_indices_.data(),
+                            A_column_pointers_.data());
+
+  osqp_data_.l = l_.data();
+  osqp_data_.u = u_.data();
+}
+
+void OSQPModel::createOrUpdateSolver()
+{
+  updateObjective();
+  updateConstraints();
+
+  // TODO atm we are not updating the workspace, but recreating it each time.
+  // In the future, we will checking sparsity did not change and update instead
+  if (osqp_workspace_ != nullptr)
+    osqp_cleanup(osqp_workspace_);
+  // Setup workspace - this should be called only once
+  osqp_workspace_ = osqp_setup(&osqp_data_, &osqp_settings_);
+}
+
+void OSQPModel::update()
+{
+  {
+    int inew = 0;
+    for (unsigned iold = 0; iold < vars_.size(); ++iold)
+    {
+      const Var& var = vars_[iold];
+      if (!var.var_rep->removed)
+      {
+        vars_[inew] = var;
+        lbs_[inew] = lbs_[iold];
+        ubs_[inew] = ubs_[iold];
+        var.var_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete var.var_rep;
+    }
+    vars_.resize(inew);
+    lbs_.resize(inew);
+    ubs_.resize(inew);
+  }
+  {
+    int inew = 0;
+    for (unsigned iold = 0; iold < cnts_.size(); ++iold)
+    {
+      const Cnt& cnt = cnts_[iold];
+      if (!cnt.cnt_rep->removed)
+      {
+        cnts_[inew] = cnt;
+        cnt_exprs_[inew] = cnt_exprs_[iold];
+        cnt_types_[inew] = cnt_types_[iold];
+        cnt.cnt_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete cnt.cnt_rep;
+    }
+    cnts_.resize(inew);
+    cnt_exprs_.resize(inew);
+    cnt_types_.resize(inew);
+  }
+}
+
+void OSQPModel::setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper)
+{
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    const int varind = vars[i].var_rep->index;
+    lbs_[varind] = lower[i];
+    ubs_[varind] = upper[i];
+  }
+}
+DblVec OSQPModel::getVarValues(const VarVector& vars) const
+{
+  DblVec out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    const int varind = vars[i].var_rep->index;
+    out[i] = solution_[varind];
+  }
+  return out;
+}
+
+CvxOptStatus OSQPModel::optimize()
+{
+  update();
+  createOrUpdateSolver();
+
+  // Solve Problem
+  const int retcode = osqp_solve(osqp_workspace_);
+
+  if (retcode == 0)
+  {
+    // opt += m_objective.affexpr.constant;
+    solution_ = DblVec(osqp_workspace_->solution->x, osqp_workspace_->solution->x + vars_.size());
+    int status = osqp_workspace_->info->status_val;
+    if (status == OSQP_SOLVED || status == OSQP_SOLVED_INACCURATE)
+      return CVX_SOLVED;
+    else if (status == OSQP_PRIMAL_INFEASIBLE || status == OSQP_PRIMAL_INFEASIBLE_INACCURATE ||
+             status == OSQP_DUAL_INFEASIBLE || status == OSQP_DUAL_INFEASIBLE_INACCURATE)
+      return CVX_INFEASIBLE;
+  }
+  return CVX_FAILED;
+}
+void OSQPModel::setObjective(const AffExpr& expr) { objective_.affexpr = expr; }
+void OSQPModel::setObjective(const QuadExpr& expr) { objective_ = expr; }
+void OSQPModel::writeToFile(const std::string& /*fname*/)
+{
+  return;  // NOT IMPLEMENTED
+}
+VarVector OSQPModel::getVars() const { return vars_; }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
new file mode 100644
index 0000000000..2316f95d52
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
@@ -0,0 +1,251 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cmath>
+#include <Eigen/Eigen>
+#include <fstream>
+#include <signal.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/qpoases_interface.hpp>
+#include <trajopt_sco/solver_utils.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+using namespace qpOASES;
+
+namespace sco
+{
+double QPOASES_INFTY = qpOASES::INFTY;
+
+ModelPtr createqpOASESModel()
+{
+  ModelPtr out(new qpOASESModel());
+  return out;
+}
+
+qpOASESModel::qpOASESModel()
+{
+  // set to be fast. More details at:
+  // https://www.coin-or.org/qpOASES/doc/3.2/doxygen/classOptions.html
+  // https://projects.coin-or.org/qpOASES/browser/stable/3.2/src/Options.cpp#L191
+  qpoases_options_.setToMPC();
+  qpoases_options_.printLevel = qpOASES::PL_NONE;
+  // enable regularisation to deal with degenerate Hessians
+  qpoases_options_.enableRegularisation = qpOASES::BT_TRUE;
+  qpoases_options_.ensureConsistency();
+}
+
+qpOASESModel::~qpOASESModel() {}
+Var qpOASESModel::addVar(const std::string& name)
+{
+  vars_.push_back(new VarRep(vars_.size(), name, this));
+  lb_.push_back(-QPOASES_INFTY);
+  ub_.push_back(QPOASES_INFTY);
+  return vars_.back();
+}
+
+Cnt qpOASESModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  cnts_.push_back(new CntRep(cnts_.size(), this));
+  cnt_exprs_.push_back(expr);
+  cnt_types_.push_back(EQ);
+  return cnts_.back();
+}
+
+Cnt qpOASESModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
+{
+  cnts_.push_back(new CntRep(cnts_.size(), this));
+  cnt_exprs_.push_back(expr);
+  cnt_types_.push_back(INEQ);
+  return cnts_.back();
+}
+
+Cnt qpOASESModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/)
+{
+  assert(0 && "NOT IMPLEMENTED");
+  return 0;
+}
+
+void qpOASESModel::removeVars(const VarVector& vars)
+{
+  IntVec inds = vars2inds(vars);
+  for (unsigned i = 0; i < vars.size(); ++i)
+    vars[i].var_rep->removed = true;
+}
+
+void qpOASESModel::removeCnts(const CntVector& cnts)
+{
+  IntVec inds = cnts2inds(cnts);
+  for (unsigned i = 0; i < cnts.size(); ++i)
+    cnts[i].cnt_rep->removed = true;
+}
+
+void qpOASESModel::updateObjective()
+{
+  const size_t n = vars_.size();
+
+  Eigen::SparseMatrix<double> sm;
+  exprToEigen(objective_, sm, g_, n, true, true);
+  eigenToCSC(sm, H_row_indices_, H_column_pointers_, H_csc_data_);
+
+  H_ = SymSparseMat(vars_.size(), vars_.size(), H_row_indices_.data(), H_column_pointers_.data(), H_csc_data_.data());
+  H_.createDiagInfo();
+}
+
+void qpOASESModel::updateConstraints()
+{
+  const size_t n = vars_.size();
+  const size_t m = cnts_.size();
+
+  lbA_.clear();
+  lbA_.resize(m, -QPOASES_INFTY);
+  ubA_.clear();
+  ubA_.resize(m, QPOASES_INFTY);
+
+  Eigen::SparseMatrix<double> sm;
+  Eigen::VectorXd v;
+  exprToEigen(cnt_exprs_, sm, v, n);
+
+  for (int i_cnt = 0; i_cnt < m; ++i_cnt)
+  {
+    lbA_[i_cnt] = (cnt_types_[i_cnt] == INEQ) ? -QPOASES_INFTY : v[i_cnt];
+    ubA_[i_cnt] = v[i_cnt];
+  }
+
+  eigenToCSC(sm, A_row_indices_, A_column_pointers_, A_csc_data_);
+  A_ = SparseMatrix(cnts_.size(), vars_.size(), A_row_indices_.data(), A_column_pointers_.data(), A_csc_data_.data());
+}
+
+bool qpOASESModel::updateSolver()
+{
+  bool solver_updated = false;
+  if (!qpoases_problem_ || vars_.size() != qpoases_problem_->getNV() || cnts_.size() != qpoases_problem_->getNC())
+  {
+    // Create Problem - this should be called only once
+    qpoases_problem_.reset(new SQProblem(vars_.size(), cnts_.size()));
+    qpoases_problem_->setOptions(qpoases_options_);
+    solver_updated = true;
+  }
+  return solver_updated;
+}
+
+void qpOASESModel::createSolver()
+{
+  qpoases_problem_.reset();
+  updateSolver();
+}
+
+void qpOASESModel::update()
+{
+  {
+    int inew = 0;
+    for (unsigned iold = 0; iold < vars_.size(); ++iold)
+    {
+      const Var& var = vars_[iold];
+      if (!var.var_rep->removed)
+      {
+        vars_[inew] = var;
+        lb_[inew] = lb_[iold];
+        ub_[inew] = ub_[iold];
+        var.var_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete var.var_rep;
+    }
+    vars_.resize(inew);
+    lb_.resize(inew, QPOASES_INFTY);
+    ub_.resize(inew, -QPOASES_INFTY);
+  }
+  {
+    int inew = 0;
+    for (unsigned iold = 0; iold < cnts_.size(); ++iold)
+    {
+      const Cnt& cnt = cnts_[iold];
+      if (!cnt.cnt_rep->removed)
+      {
+        cnts_[inew] = cnt;
+        cnt_exprs_[inew] = cnt_exprs_[iold];
+        cnt_types_[inew] = cnt_types_[iold];
+        cnt.cnt_rep->index = inew;
+        ++inew;
+      }
+      else
+        delete cnt.cnt_rep;
+    }
+    cnts_.resize(inew);
+    cnt_exprs_.resize(inew);
+    cnt_types_.resize(inew);
+  }
+}
+
+void qpOASESModel::setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper)
+{
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    const int varind = vars[i].var_rep->index;
+    lb_[varind] = lower[i];
+    ub_[varind] = upper[i];
+  }
+}
+DblVec qpOASESModel::getVarValues(const VarVector& vars) const
+{
+  DblVec out(vars.size());
+  for (unsigned i = 0; i < vars.size(); ++i)
+  {
+    const int varind = vars[i].var_rep->index;
+    out[i] = solution_[varind];
+  }
+  return out;
+}
+
+CvxOptStatus qpOASESModel::optimize()
+{
+  update();
+  updateObjective();
+  updateConstraints();
+  updateSolver();
+  qpOASES::returnValue val = qpOASES::RET_QP_SOLUTION_STARTED;
+
+  // Solve Problem
+  int nWSR = 255;
+  if (qpoases_problem_->isInitialised())
+  {
+    val = qpoases_problem_->hotstart(
+        &H_, g_.data(), &A_, lb_.data(), ub_.data(), lbA_.data(), ubA_.data(), nWSR, nullptr);
+  }
+
+  if (val != qpOASES::SUCCESSFUL_RETURN)
+  {
+    // TODO ATM this means we are creating a new solver even if updateSolver
+    //      returned true and the problem is not initialized. Still, it makes
+    //      tests pass.
+    createSolver();
+
+    val = qpoases_problem_->init(&H_, g_.data(), &A_, lb_.data(), ub_.data(), lbA_.data(), ubA_.data(), nWSR, nullptr);
+  }
+
+  if (val == qpOASES::SUCCESSFUL_RETURN)
+  {
+    // opt += m_objective.affexpr.constant;
+    solution_.resize(vars_.size(), 0.);
+    val = qpoases_problem_->getPrimalSolution(solution_.data());
+    return CVX_SOLVED;
+  }
+  else if (val == qpOASES::RET_INIT_FAILED_INFEASIBILITY)
+  {
+    return CVX_INFEASIBLE;
+  }
+  else
+  {
+    return CVX_FAILED;
+  }
+}
+void qpOASESModel::setObjective(const AffExpr& expr) { objective_.affexpr = expr; }
+void qpOASESModel::setObjective(const QuadExpr& expr) { objective_ = expr; }
+void qpOASESModel::writeToFile(const std::string& /*fname*/)
+{
+  return;  // NOT IMPLEMENTED
+}
+VarVector qpOASESModel::getVars() const { return vars_; }
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
new file mode 100644
index 0000000000..3da51d8af5
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
@@ -0,0 +1,305 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/format.hpp>
+#include <iostream>
+#include <map>
+#include <sstream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/macros.h>
+
+namespace sco
+{
+const std::vector<std::string> ModelType::MODEL_NAMES_ = { "GUROBI", "BPMPD", "OSQP", "QPOASES", "AUTO_SOLVER" };
+
+IntVec vars2inds(const VarVector& vars)
+{
+  IntVec inds(vars.size());
+  for (size_t i = 0; i < inds.size(); ++i)
+    inds[i] = vars[i].var_rep->index;
+  return inds;
+}
+IntVec cnts2inds(const CntVector& cnts)
+{
+  IntVec inds(cnts.size());
+  for (size_t i = 0; i < inds.size(); ++i)
+    inds[i] = cnts[i].cnt_rep->index;
+  return inds;
+}
+
+void simplify2(IntVec& inds, DblVec& vals)
+{
+  typedef std::map<int, double> Int2Double;
+  Int2Double ind2val;
+  for (unsigned i = 0; i < inds.size(); ++i)
+  {
+    if (vals[i] != 0.0)
+      ind2val[inds[i]] += vals[i];
+  }
+  inds.resize(ind2val.size());
+  vals.resize(ind2val.size());
+  long unsigned int i_new = 0;
+  for (Int2Double::value_type& iv : ind2val)
+  {
+    inds[i_new] = iv.first;
+    vals[i_new] = iv.second;
+    ++i_new;
+  }
+}
+
+double AffExpr::value(const double* x) const
+{
+  double out = constant;
+  for (size_t i = 0; i < size(); ++i)
+  {
+    out += coeffs[i] * vars[i].value(x);
+  }
+  return out;
+}
+double AffExpr::value(const DblVec& x) const
+{
+  double out = constant;
+  for (size_t i = 0; i < size(); ++i)
+  {
+    out += coeffs[i] * vars[i].value(x);
+  }
+  return out;
+}
+double QuadExpr::value(const DblVec& x) const
+{
+  double out = affexpr.value(x);
+  for (size_t i = 0; i < size(); ++i)
+  {
+    out += coeffs[i] * vars1[i].value(x) * vars2[i].value(x);
+  }
+  return out;
+}
+double QuadExpr::value(const double* x) const
+{
+  double out = affexpr.value(x);
+  for (size_t i = 0; i < size(); ++i)
+  {
+    out += coeffs[i] * vars1[i].value(x) * vars2[i].value(x);
+  }
+  return out;
+}
+
+Var Model::addVar(const std::string& name, double lb, double ub)
+{
+  Var v = addVar(name);
+  setVarBounds(v, lb, ub);
+  return v;
+}
+void Model::removeVar(const Var& var)
+{
+  VarVector vars(1, var);
+  removeVars(vars);
+}
+void Model::removeCnt(const Cnt& cnt)
+{
+  CntVector cnts(1, cnt);
+  removeCnts(cnts);
+}
+
+double Model::getVarValue(const Var& var) const
+{
+  VarVector vars(1, var);
+  return getVarValues(vars)[0];
+}
+
+void Model::setVarBounds(const Var& var, double lower, double upper)
+{
+  DblVec lowers(1, lower), uppers(1, upper);
+  VarVector vars(1, var);
+  setVarBounds(vars, lowers, uppers);
+}
+
+std::ostream& operator<<(std::ostream& o, const Var& v)
+{
+  if (v.var_rep != nullptr)
+    o << v.var_rep->name;
+  else
+    o << "nullvar";
+  return o;
+}
+
+std::ostream& operator<<(std::ostream& o, const Cnt& c)
+{
+  o << c.cnt_rep->expr << ((c.cnt_rep->type == EQ) ? " == 0" : " <= 0");
+  return o;
+}
+
+std::ostream& operator<<(std::ostream& o, const AffExpr& e)
+{
+  o << e.constant;
+  for (size_t i = 0; i < e.size(); ++i)
+  {
+    o << " + " << e.coeffs[i] << "*" << e.vars[i];
+  }
+  return o;
+}
+
+std::ostream& operator<<(std::ostream& o, const QuadExpr& e)
+{
+  o << e.affexpr;
+  for (size_t i = 0; i < e.size(); ++i)
+  {
+    o << " + " << e.coeffs[i] << "*" << e.vars1[i] << "*" << e.vars2[i];
+  }
+  return o;
+}
+
+std::ostream& operator<<(std::ostream& o, const ModelType& cs)
+{
+  size_t cs_ivalue_ = static_cast<size_t>(cs.value_);
+  if (cs_ivalue_ > cs.MODEL_NAMES_.size())
+  {
+    std::stringstream conversion_error;
+    conversion_error << "Error converting ModelType to string - "
+                     << "enum value is " << cs_ivalue_ << std::endl;
+    throw std::runtime_error(conversion_error.str());
+  }
+  o << ModelType::MODEL_NAMES_[cs_ivalue_];
+  return o;
+}
+
+ModelType::ModelType() { value_ = ModelType::AUTO_SOLVER; }
+ModelType::ModelType(const ModelType::Value& v) { value_ = v; }
+ModelType::ModelType(const int& v) { value_ = static_cast<Value>(v); }
+ModelType::ModelType(const std::string& s)
+{
+  for (unsigned int i = 0; i < ModelType::MODEL_NAMES_.size(); ++i)
+  {
+    if (s == ModelType::MODEL_NAMES_[i])
+    {
+      value_ = static_cast<ModelType::Value>(i);
+      return;
+    }
+  }
+  PRINT_AND_THROW(boost::format("invalid solver name:\"%s\"") % s);
+}
+
+ModelType::operator int() const { return static_cast<int>(value_); }
+bool ModelType::operator==(const ModelType::Value& a) const { return value_ == a; }
+bool ModelType::operator==(const ModelType& a) const { return value_ == a.value_; }
+bool ModelType::operator!=(const ModelType& a) const { return value_ != a.value_; }
+void ModelType::fromJson(const Json::Value& v)
+{
+  try
+  {
+    std::string ref = v.asString();
+    ModelType cs(ref);
+    value_ = cs.value_;
+  }
+  catch (const std::runtime_error&)
+  {
+    PRINT_AND_THROW(boost::format("expected: %s, got %s") % ("string") % (v));
+  }
+}
+
+std::vector<ModelType> availableSolvers()
+{
+  std::vector<bool> has_solver(ModelType::AUTO_SOLVER, false);
+#ifdef HAVE_GUROBI
+  has_solver[ModelType::GUROBI] = true;
+#endif
+#ifdef HAVE_BPMPD
+  has_solver[ModelType::BPMPD] = true;
+#endif
+#ifdef HAVE_OSQP
+  has_solver[ModelType::OSQP] = true;
+#endif
+#ifdef HAVE_QPOASES
+  has_solver[ModelType::QPOASES] = true;
+#endif
+  size_t n_available_solvers = 0;
+  for (auto i = 0; i < ModelType::AUTO_SOLVER; ++i)
+    if (has_solver[static_cast<size_t>(i)])
+      ++n_available_solvers;
+  std::vector<ModelType> available_solvers(n_available_solvers, ModelType::AUTO_SOLVER);
+
+  size_t j = 0;
+  for (int i = 0; i < static_cast<int>(ModelType::AUTO_SOLVER); ++i)
+    if (has_solver[static_cast<size_t>(i)])
+      available_solvers[j++] = static_cast<ModelType>(i);
+  return available_solvers;
+}
+
+ModelPtr createModel(ModelType model_type)
+{
+#ifdef HAVE_GUROBI
+  extern ModelPtr createGurobiModel();
+#endif
+#ifdef HAVE_BPMPD
+  extern ModelPtr createBPMPDModel();
+#endif
+#ifdef HAVE_OSQP
+  extern ModelPtr createOSQPModel();
+#endif
+#ifdef HAVE_QPOASES
+  extern ModelPtr createqpOASESModel();
+#endif
+
+  char* solver_env = getenv("TRAJOPT_CONVEX_SOLVER");
+
+  ModelType solver = model_type;
+
+  if (solver == ModelType::AUTO_SOLVER)
+  {
+    if (solver_env and std::string(solver_env) != "AUTO_SOLVER")
+    {
+      try
+      {
+        solver = ModelType(std::string(solver_env));
+      }
+      catch (std::runtime_error&)
+      {
+        PRINT_AND_THROW(boost::format("invalid solver \"%s\"specified by TRAJOPT_CONVEX_SOLVER") % solver_env);
+      }
+    }
+    else
+    {
+      solver = availableSolvers()[0];
+    }
+  }
+
+#ifndef HAVE_GUROBI
+  if (solver == ModelType::GUROBI)
+    PRINT_AND_THROW("you didn't build with GUROBI support");
+#endif
+#ifndef HAVE_BPMPD
+  if (solver == ModelType::BPMPD)
+    PRINT_AND_THROW("you don't have BPMPD support on this platform");
+#endif
+#ifndef HAVE_OSQP
+  if (solver == ModelType::OSQP)
+    PRINT_AND_THROW("you don't have OSQP support on this platform");
+#endif
+#ifndef HAVE_QPOASES
+  if (solver == ModelType::QPOASES)
+    PRINT_AND_THROW("you don't have qpOASES support on this platform");
+#endif
+
+#ifdef HAVE_GUROBI
+  if (solver == ModelType::GUROBI)
+    return createGurobiModel();
+#endif
+#ifdef HAVE_BPMPD
+  if (solver == ModelType::BPMPD)
+    return createBPMPDModel();
+#endif
+#ifdef HAVE_OSQP
+  if (solver == ModelType::OSQP)
+    return createOSQPModel();
+#endif
+#ifdef HAVE_QPOASES
+  if (solver == ModelType::QPOASES)
+    return createqpOASESModel();
+#endif
+  std::stringstream solver_instatiation_error;
+  solver_instatiation_error << "Failed to create solver: unknown solver " << solver << std::endl;
+  PRINT_AND_THROW(solver_instatiation_error.str());
+  return ModelPtr();
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
new file mode 100644
index 0000000000..811c80a9ff
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
@@ -0,0 +1,134 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <algorithm>
+#include <Eigen/SparseCore>
+#include <sstream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/solver_utils.hpp>
+#include <trajopt_utils/logging.hpp>
+
+namespace sco
+{
+void exprToEigen(const AffExpr& expr, Eigen::SparseVector<double>& sparse_vector, const int& n_vars)
+{
+  sparse_vector.resize(n_vars);
+  sparse_vector.reserve(static_cast<long int>(expr.size()));
+  for (size_t i = 0; i < expr.size(); ++i)
+  {
+    int i_var_index = expr.vars[i].var_rep->index;
+    if (i_var_index >= n_vars)
+    {
+      std::stringstream msg;
+      msg << "Coefficient " << i << "has index " << i_var_index << " but n_vars is " << n_vars;
+      throw std::runtime_error(msg.str());
+    }
+    if (expr.coeffs[i] != 0.)
+      sparse_vector.coeffRef(i_var_index) += expr.coeffs[i];
+  }
+}
+
+void exprToEigen(const QuadExpr& expr,
+                 Eigen::SparseMatrix<double>& sparse_matrix,
+                 Eigen::VectorXd& vector,
+                 const int& n_vars,
+                 const bool& matrix_is_halved,
+                 const bool& force_diagonal)
+{
+  IntVec ind1 = vars2inds(expr.vars1);
+  IntVec ind2 = vars2inds(expr.vars2);
+  sparse_matrix.resize(n_vars, n_vars);
+  sparse_matrix.reserve(static_cast<long int>(2 * expr.size()));
+
+  Eigen::SparseVector<double> vector_sparse;
+  exprToEigen(expr.affexpr, vector_sparse, n_vars);
+  vector = vector_sparse;
+
+  for (size_t i = 0; i < expr.coeffs.size(); ++i)
+  {
+    if (expr.coeffs[i] != 0.0)
+    {
+      if (ind1[i] == ind2[i])
+        sparse_matrix.coeffRef(ind1[i], ind2[i]) += expr.coeffs[i];
+      else
+      {
+        int c, r;
+        if (ind1[i] < ind2[i])
+        {
+          r = ind1[i];
+          c = ind2[i];
+        }
+        else
+        {
+          r = ind2[i];
+          c = ind1[i];
+        }
+        sparse_matrix.coeffRef(r, c) += expr.coeffs[i];
+      }
+    }
+  }
+
+  auto sparse_matrix_T = Eigen::SparseMatrix<double>(sparse_matrix.transpose());
+  sparse_matrix = sparse_matrix + sparse_matrix_T;
+
+  if (!matrix_is_halved)
+    sparse_matrix = 0.5 * sparse_matrix;
+
+  if (force_diagonal)
+    for (int k = 0; k < n_vars; ++k)
+      sparse_matrix.coeffRef(k, k) += 0.0;
+}
+
+void exprToEigen(const AffExprVector& expr_vec,
+                 Eigen::SparseMatrix<double>& sparse_matrix,
+                 Eigen::VectorXd& vector,
+                 const int& n_vars)
+{
+  vector.resize(static_cast<long int>(expr_vec.size()));
+  vector.setZero();
+  sparse_matrix.resize(static_cast<long int>(expr_vec.size()), n_vars);
+  sparse_matrix.reserve(static_cast<long int>(expr_vec.size()) * n_vars);
+
+  for (long int i = 0; i < static_cast<long int>(expr_vec.size()); ++i)
+  {
+    const AffExpr& expr = expr_vec[static_cast<size_t>(i)];
+    Eigen::SparseVector<double> expr_vector;
+    exprToEigen(expr, expr_vector, n_vars);
+    for (Eigen::SparseVector<double>::InnerIterator it(expr_vector); it; ++it)
+      sparse_matrix.coeffRef(i, it.index()) = it.value();
+    vector[i] = -expr.constant;
+  }
+}
+
+void tripletsToEigen(const IntVec& rows_i,
+                     const IntVec& cols_j,
+                     const DblVec& values_ij,
+                     Eigen::SparseMatrix<double>& sparse_matrix)
+{
+  typedef Eigen::Triplet<double> T;
+  std::vector<T, Eigen::aligned_allocator<T>> triplets;
+  for (unsigned int i = 0; i < values_ij.size(); ++i)
+    triplets.push_back(T(rows_i[i], cols_j[i], values_ij[i]));
+  sparse_matrix.setFromTriplets(triplets.begin(), triplets.end());
+}
+
+void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
+                     IntVec& rows_i,
+                     IntVec& cols_j,
+                     DblVec& values_ij)
+{
+  auto& sm = sparse_matrix;
+  rows_i.reserve(rows_i.size() + static_cast<size_t>(sm.nonZeros()));
+  cols_j.reserve(cols_j.size() + static_cast<size_t>(sm.nonZeros()));
+  values_ij.reserve(values_ij.size() + static_cast<size_t>(sm.nonZeros()));
+  for (int k = 0; k < sm.outerSize(); ++k)
+  {
+    for (Eigen::SparseMatrix<double>::InnerIterator it(sm, k); it; ++it)
+    {
+      rows_i.push_back(static_cast<int>(it.row()));
+      cols_j.push_back(static_cast<int>(it.col()));
+      values_ij.push_back(it.value());
+    }
+  }
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
new file mode 100644
index 0000000000..09a4895ec7
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
@@ -0,0 +1,175 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Dense>
+#include <boost/format.hpp>
+#include <cmath>
+#include <gtest/gtest.h>
+#include <iostream>
+#include <sstream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_op_overloads.hpp>
+#include <trajopt_sco/modeling_utils.hpp>
+#include <trajopt_sco/optimizers.hpp>
+#include <trajopt_sco/sco_common.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+using namespace util;
+using namespace std;
+using namespace sco;
+using namespace Eigen;
+
+class SQP : public testing::TestWithParam<ModelType>
+{
+protected:
+  SQP() {}
+};
+
+void setupProblem(OptProbPtr& probptr, size_t nvars, ModelType convex_solver)
+{
+  probptr.reset(new OptProb(convex_solver));
+  vector<string> var_names;
+  for (size_t i = 0; i < nvars; ++i)
+  {
+    var_names.push_back((boost::format("x_%i") % i).str());
+  }
+  probptr->createVariables(var_names);
+}
+
+void expectAllNear(const DblVec& x, const DblVec& y, double abstol)
+{
+  EXPECT_EQ(x.size(), y.size());
+  stringstream ss;
+  LOG_INFO("checking %s ?= %s", CSTR(x), CSTR(y));
+  for (size_t i = 0; i < x.size(); ++i)
+    EXPECT_NEAR(x[i], y[i], abstol);
+}
+
+double f_QuadraticSeparable(const VectorXd& x) { return x(0) * x(0) + sq(x(1) - 1) + sq(x(2) - 2); }
+TEST_P(SQP, QuadraticSeparable)
+{
+  // if the problem is exactly a QP, it should be solved in one iteration
+  OptProbPtr prob;
+  setupProblem(prob, 3, GetParam());
+  prob->addCost(CostPtr(new CostFromFunc(ScalarOfVector::construct(&f_QuadraticSeparable), prob->getVars(), "f")));
+  BasicTrustRegionSQP solver(prob);
+  BasicTrustRegionSQPParameters& params = solver.getParameters();
+  params.trust_box_size = 100;
+  DblVec x = { 3, 4, 5 };
+  solver.initialize(x);
+  OptStatus status = solver.optimize();
+  ASSERT_EQ(status, OPT_CONVERGED);
+  expectAllNear(solver.x(), { 0, 1, 2 }, 1e-3);
+  // todo: checks on number of iterations and function evaluates
+}
+double f_QuadraticNonseparable(const VectorXd& x) { return sq(x(0) - x(1) + 3 * x(2)) + sq(x(0) - 1) + sq(x(2) - 2); }
+TEST_P(SQP, QuadraticNonseparable)
+{
+  OptProbPtr prob;
+  setupProblem(prob, 3, GetParam());
+  prob->addCost(
+      CostPtr(new CostFromFunc(ScalarOfVector::construct(&f_QuadraticNonseparable), prob->getVars(), "f", true)));
+  BasicTrustRegionSQP solver(prob);
+  BasicTrustRegionSQPParameters& params = solver.getParameters();
+  params.trust_box_size = 100;
+  params.min_trust_box_size = 1e-5;
+  params.min_approx_improve = 1e-6;
+  DblVec x = { 3, 4, 5 };
+  solver.initialize(x);
+  OptStatus status = solver.optimize();
+  ASSERT_EQ(status, OPT_CONVERGED);
+  expectAllNear(solver.x(), { 1, 7, 2 }, .01);
+  // todo: checks on number of iterations and function evaluates
+}
+
+void testProblem(ScalarOfVectorPtr f,
+                 VectorOfVectorPtr g,
+                 ConstraintType cnt_type,
+                 const DblVec& init,
+                 const DblVec& sol,
+                 ModelType convex_solver)
+{
+  OptProbPtr prob;
+  size_t n = init.size();
+  assert(sol.size() == n);
+  setupProblem(prob, n, convex_solver);
+  prob->addCost(CostPtr(new CostFromFunc(f, prob->getVars(), "f", true)));
+  prob->addConstraint(ConstraintPtr(new ConstraintFromErrFunc(g, prob->getVars(), VectorXd(), cnt_type, "g")));
+  BasicTrustRegionSQP solver(prob);
+  BasicTrustRegionSQPParameters& params = solver.getParameters();
+  params.max_iter = 1000;
+  params.min_trust_box_size = 1e-5;
+  params.min_approx_improve = 1e-10;
+  params.merit_error_coeff = 1;
+
+  solver.initialize(init);
+  OptStatus status = solver.optimize();
+  EXPECT_EQ(status, OPT_CONVERGED);
+  expectAllNear(solver.x(), sol, .01);
+}
+// http://www.ai7.uni-bayreuth.de/test_problem_coll.pdf
+
+double f_TP1(const VectorXd& x) { return 1 * sq(x(1) - sq(x(0))) + sq(1 - x(0)); }
+VectorXd g_TP1(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = -1.5 - x(1);
+  return out;
+}
+double f_TP2(const VectorXd& x) { return 100 * sq(x(1) - sq(x(0))) + sq(1 - x(0)); }
+VectorXd g_TP2(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = -1.5 - x(1);
+  return out;
+}
+double f_TP3(const VectorXd& x) { return (x(1) + 1e-5 * sq(x(1) - x(0))); }
+VectorXd g_TP3(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = 0 - x(1);
+  return out;
+}
+double f_TP6(const VectorXd& x) { return sq(1 - x(0)); }
+VectorXd g_TP6(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = 10 * (x(1) - sq(x(0)));
+  return out;
+}
+double f_TP7(const VectorXd& x) { return log(1 + sq(x(0))) - x(1); }
+VectorXd g_TP7(const VectorXd& x)
+{
+  VectorXd out(1);
+  out(0) = sq(1 + sq(x(0))) + sq(x(1)) - 4;
+  return out;
+}
+
+TEST_P(SQP, TP1)
+{
+  testProblem(
+      ScalarOfVector::construct(&f_TP1), VectorOfVector::construct(&g_TP1), INEQ, { -2, 1 }, { 1, 1 }, GetParam());
+}
+TEST_P(SQP, TP3)
+{
+  testProblem(
+      ScalarOfVector::construct(&f_TP3), VectorOfVector::construct(&g_TP3), INEQ, { 10, 1 }, { 0, 0 }, GetParam());
+}
+TEST_P(SQP, TP6)
+{
+  testProblem(
+      ScalarOfVector::construct(&f_TP6), VectorOfVector::construct(&g_TP6), EQ, { 10, 1 }, { 1, 1 }, GetParam());
+}
+TEST_P(SQP, TP7)
+{
+  testProblem(ScalarOfVector::construct(&f_TP7),
+              VectorOfVector::construct(&g_TP7),
+              EQ,
+              { 2, 2 },
+              { 0., sqrtf(3.) },
+              GetParam());
+}
+
+INSTANTIATE_TEST_CASE_P(AllSolvers, SQP, testing::ValuesIn(availableSolvers()));
diff --git a/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
new file mode 100644
index 0000000000..b9d0d5ae6a
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
@@ -0,0 +1,244 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cstdio>
+#include <gtest/gtest.h>
+#include <iostream>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace sco
+{
+extern void simplify2(IntVec& inds, DblVec& vals);
+}
+
+using namespace sco;
+
+class SolverInterface : public testing::TestWithParam<ModelType>
+{
+protected:
+  SolverInterface() {}
+};
+
+TEST(SolverInterface, simplify2)
+{
+  IntVec indices = { 0, 1, 3 };
+  DblVec values = { 1e-7, 1e3, 0., 0., 0. };
+  simplify2(indices, values);
+
+  EXPECT_EQ(indices.size(), 2);
+  EXPECT_EQ(values.size(), 2);
+  EXPECT_TRUE((indices == IntVec{ 0, 1 }));
+  EXPECT_TRUE((values == DblVec{ 1e-7, 1e3 }));
+}
+
+TEST_P(SolverInterface, setup_problem)
+{
+  ModelPtr solver = createModel(GetParam());
+  VarVector vars;
+  for (int i = 0; i < 3; ++i)
+  {
+    char namebuf[5];
+    sprintf(namebuf, "v%i", i);
+    vars.push_back(solver->addVar(namebuf));
+  }
+  solver->update();
+
+  AffExpr aff;
+  std::cout << aff << std::endl;
+  for (int i = 0; i < 3; ++i)
+  {
+    exprInc(aff, vars[i]);
+    solver->setVarBounds(vars[i], 0, 10);
+  }
+  aff.constant -= 3;
+  std::cout << aff << std::endl;
+  QuadExpr affsquared = exprSquare(aff);
+  solver->setObjective(affsquared);
+  solver->update();
+  LOG_INFO("objective: %s", CSTR(affsquared));
+  LOG_INFO("please manually check that /tmp/solver-interface-test.lp matches this");
+  solver->writeToFile("/tmp/solver-interface-test.lp");
+
+  solver->optimize();
+
+  DblVec soln(3);
+  for (int i = 0; i < 3; ++i)
+  {
+    soln[i] = solver->getVarValue(vars[i]);
+  }
+  EXPECT_NEAR(aff.value(soln), 0, 1e-6);
+
+  solver->removeVar(vars[2]);
+  solver->update();
+  EXPECT_EQ(solver->getVars().size(), 2);
+}
+
+// Tests multiplying larger terms
+TEST_P(SolverInterface, DISABLED_ExprMult_test1)  // QuadExpr not PSD
+{
+  ModelPtr solver = createModel(GetParam());
+  VarVector vars;
+  for (int i = 0; i < 3; ++i)
+  {
+    char namebuf[5];
+    sprintf(namebuf, "v%i", i);
+    vars.push_back(solver->addVar(namebuf));
+  }
+  for (int i = 3; i < 6; ++i)
+  {
+    char namebuf[5];
+    sprintf(namebuf, "v%i", i);
+    vars.push_back(solver->addVar(namebuf));
+  }
+  solver->update();
+
+  AffExpr aff1;
+  std::cout << aff1 << std::endl;
+  for (int i = 0; i < 3; ++i)
+  {
+    exprInc(aff1, vars[i]);
+    solver->setVarBounds(vars[i], 0, 10);
+  }
+  aff1.constant -= 3;
+  std::cout << aff1 << std::endl;
+
+  AffExpr aff2;
+  std::cout << aff2 << std::endl;
+  for (int i = 3; i < 6; ++i)
+  {
+    exprInc(aff2, vars[i]);
+    solver->setVarBounds(vars[i], 0, 10);
+  }
+  aff2.constant -= 5;
+
+  std::cout << aff2 << std::endl;
+  QuadExpr aff12 = exprMult(aff1, aff2);
+  solver->setObjective(aff12);
+  solver->update();
+  LOG_INFO("objective: %s", CSTR(aff12));
+  LOG_INFO("please manually check that /tmp/solver-interface-test.lp matches this");
+  solver->writeToFile("/tmp/solver-interface-test.lp");
+
+  solver->optimize();
+
+  DblVec soln(3);
+  for (int i = 0; i < 3; ++i)
+  {
+    soln[i] = solver->getVarValue(vars[i]);
+  }
+  EXPECT_NEAR(aff1.value(soln), 0, 1e-6);
+
+  solver->removeVar(vars[2]);
+  solver->update();
+  EXPECT_EQ(solver->getVars().size(), 5);
+}
+
+// Tests multiplication with 2 variables: v1=10, v2=20 => (2*v1)(v2) = 400
+TEST_P(SolverInterface, ExprMult_test2)
+{
+  const double v1_val = 10;
+  const double v2_val = 20;
+  const double v1_coeff = 2;
+  const double v2_coeff = 1;
+  const double aff1_const = 0;
+  const double aff2_const = 0;
+
+  ModelPtr solver = createModel(GetParam());
+  VarVector vars;
+  vars.push_back(solver->addVar("v1"));
+  vars.push_back(solver->addVar("v2"));
+
+  solver->update();
+
+  AffExpr aff1;
+  AffExpr aff2;
+
+  exprInc(aff1, vars[0]);
+  solver->setVarBounds(vars[0], v1_val, v1_val);
+  aff1.constant = aff1_const;
+  aff1.coeffs[0] = v1_coeff;
+
+  exprInc(aff2, vars[1]);
+  solver->setVarBounds(vars[1], v2_val, v2_val);
+  aff2.constant = aff2_const;
+  aff2.coeffs[0] = v2_coeff;
+
+  std::cout << "aff1: " << aff1 << std::endl;
+  std::cout << "aff2: " << aff2 << std::endl;
+  QuadExpr aff12 = exprMult(aff1, aff2);
+  solver->setObjective(aff12);
+  solver->update();
+  LOG_INFO("objective: %s", CSTR(aff12));
+  LOG_INFO("please manually check that /tmp/solver-interface-test.lp matches this");
+  solver->writeToFile("/tmp/solver-interface-test.lp");
+
+  solver->optimize();
+
+  DblVec soln(2);
+  for (int i = 0; i < 2; ++i)
+  {
+    soln[i] = solver->getVarValue(vars[i]);
+    std::cout << soln[i] << std::endl;
+  }
+  std::cout << "Result: " << aff12.value(soln) << std::endl;
+  double answer = (v1_coeff * v1_val + aff1_const) * (v2_coeff * v2_val + aff2_const);
+  EXPECT_NEAR(aff12.value(soln), answer, 1e-6);
+}
+
+// Tests multiplication with a constant: v1=10, v2=20 => (3*v1-3)(2*v2-5) = 945
+TEST_P(SolverInterface, ExprMult_test3)
+{
+  const double v1_val = 10;
+  const double v2_val = 20;
+  const double v1_coeff = 3;
+  const double v2_coeff = 2;
+  const double aff1_const = -3;
+  const double aff2_const = -5;
+
+  ModelPtr solver = createModel(GetParam());
+  VarVector vars;
+  vars.push_back(solver->addVar("v1"));
+  vars.push_back(solver->addVar("v2"));
+
+  solver->update();
+
+  AffExpr aff1;
+  AffExpr aff2;
+
+  exprInc(aff1, vars[0]);
+  solver->setVarBounds(vars[0], v1_val, v1_val);
+  aff1.constant = aff1_const;
+  aff1.coeffs[0] = v1_coeff;
+
+  exprInc(aff2, vars[1]);
+  solver->setVarBounds(vars[1], v2_val, v2_val);
+  aff2.constant = aff2_const;
+  aff2.coeffs[0] = v2_coeff;
+
+  std::cout << "aff1: " << aff1 << std::endl;
+  std::cout << "aff2: " << aff2 << std::endl;
+  QuadExpr aff12 = exprMult(aff1, aff2);
+  solver->setObjective(aff12);
+  solver->update();
+  LOG_INFO("objective: %s", CSTR(aff12));
+  LOG_INFO("please manually check that /tmp/solver-interface-test.lp matches this");
+  solver->writeToFile("/tmp/solver-interface-test.lp");
+
+  solver->optimize();
+
+  DblVec soln(2);
+  for (int i = 0; i < 2; ++i)
+  {
+    soln[i] = solver->getVarValue(vars[i]);
+    std::cout << soln[i] << std::endl;
+  }
+  std::cout << "Result: " << aff12.value(soln) << std::endl;
+  double answer = (v1_coeff * v1_val + aff1_const) * (v2_coeff * v2_val + aff2_const);
+  EXPECT_NEAR(aff12.value(soln), answer, 1e-6);
+}
+
+INSTANTIATE_TEST_CASE_P(AllSolvers, SolverInterface, testing::ValuesIn(availableSolvers()));
diff --git a/moveit_planners/trajopt/trajopt_sco/test/solver-utils-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/solver-utils-unit.cpp
new file mode 100644
index 0000000000..084648dd37
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/test/solver-utils-unit.cpp
@@ -0,0 +1,261 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cstdio>
+#include <gtest/gtest.h>
+#include <Eigen/Core>
+#include <iostream>
+#include <sstream>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_sco/expr_ops.hpp>
+#include <trajopt_sco/solver_interface.hpp>
+#include <trajopt_sco/solver_utils.hpp>
+#include <trajopt_utils/logging.hpp>
+#include <trajopt_utils/stl_to_string.hpp>
+
+using namespace sco;
+
+TEST(solver_utils, exprToEigen)
+{
+  int n_vars = 2;
+  std::vector<VarRepPtr> x_info;
+  VarVector x;
+  for (int i = 0; i < n_vars; ++i)
+  {
+    std::stringstream var_name;
+    var_name << "x_" << i;
+    VarRepPtr x_el(new VarRep(i, var_name.str(), nullptr));
+    x_info.push_back(x_el);
+    x.push_back(Var(x_el.get()));
+  }
+
+  // x_affine = [3, 2]*x + 1
+  AffExpr x_affine;
+  x_affine.vars = x;
+  x_affine.coeffs = DblVec{ 3, 2 };
+  x_affine.constant = 1;
+
+  std::cout << "x_affine=  " << x_affine << std::endl;
+  std::cout << "expecting A = [3, 2];" << std::endl << "          u = [1]" << std::endl;
+  Eigen::MatrixXd m_A_expected(1, n_vars);
+  m_A_expected << 3, 2;
+  Eigen::VectorXd v_u_expected(1);
+  v_u_expected << -1;
+
+  Eigen::SparseVector<double> v_A;
+  exprToEigen(x_affine, v_A, n_vars);
+  ASSERT_EQ(v_A.size(), m_A_expected.cols());
+  Eigen::VectorXd v_A_d = v_A;
+  Eigen::VectorXd m_A_r = m_A_expected.row(0);
+  EXPECT_TRUE(v_A_d.isApprox(m_A_r)) << "error converting x_affine"
+                                     << " to Eigen::SparseVector. "
+                                     << "v_A :" << std::endl
+                                     << v_A << std::endl;
+
+  Eigen::SparseMatrix<double> m_A;
+  Eigen::VectorXd v_u;
+  AffExprVector x_affine_vector(1, x_affine);
+  exprToEigen(x_affine_vector, m_A, v_u, n_vars);
+  ASSERT_EQ(v_u_expected.size(), v_u.size());
+  EXPECT_TRUE(v_u_expected == v_u) << "v_u_expected != v_u" << std::endl << "v_u:" << std::endl << v_u << std::endl;
+  EXPECT_EQ(m_A.nonZeros(), 2) << "m_A.nonZeros() != 2" << std::endl;
+  ASSERT_EQ(m_A.rows(), m_A_expected.rows());
+  ASSERT_EQ(m_A.cols(), m_A_expected.cols());
+  EXPECT_TRUE(m_A.isApprox(m_A_expected)) << "error converting x_affine to "
+                                          << "Eigen::SparseMatrix. m_A :" << std::endl
+                                          << m_A << std::endl;
+
+  QuadExpr x_squared = exprSquare(x_affine);
+  std::cout << "x_squared= " << x_squared << std::endl;
+  std::cout << "expecting Q = [9, 6;" << std::endl
+            << "               6, 4]" << std::endl
+            << "          q = [6, 4]" << std::endl;
+  Eigen::MatrixXd m_Q_expected(2, 2);
+  m_Q_expected << 9, 6, 6, 4;
+  DblVec v_q_expected{ 6, 4 };
+
+  Eigen::SparseMatrix<double> m_Q;
+  Eigen::VectorXd v_q;
+  exprToEigen(x_squared, m_Q, v_q, n_vars);
+  {
+    Eigen::Map<Eigen::VectorXd, Eigen::Unaligned> v_q_e_eig(v_q_expected.data(), v_q_expected.size());
+    ASSERT_EQ(v_q.size(), v_q_e_eig.size());
+    EXPECT_TRUE(v_q_e_eig.isApprox(v_q)) << "v_q_expected != v_q" << std::endl
+                                         << "v_q:" << std::endl
+                                         << v_q << std::endl;
+  }
+  EXPECT_TRUE(m_Q.isApprox(m_Q_expected)) << "error converting x_squared to "
+                                          << "Eigen::SparseMatrix. m_Q :" << std::endl
+                                          << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 4) << "m_Q.nonZeros() != 4" << std::endl;
+
+  exprToEigen(x_squared, m_Q, v_q, n_vars, true);
+  {
+    Eigen::Map<Eigen::VectorXd, Eigen::Unaligned> v_q_e_eig(v_q_expected.data(), v_q_expected.size());
+    EXPECT_TRUE(v_q_e_eig.isApprox(v_q)) << "v_q_expected != v_q" << std::endl
+                                         << "v_q:" << std::endl
+                                         << v_q << std::endl;
+  }
+  EXPECT_TRUE(m_Q.isApprox(2 * m_Q_expected)) << "error converting x_squared to"
+                                              << " Eigen::SparseMatrix. m_Q :" << std::endl
+                                              << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 4) << "m_Q.nonZeros() != 4" << std::endl;
+
+  x_affine.coeffs = DblVec{ 0, 2 };
+  std::cout << "x_affine=  " << x_affine << std::endl;
+  std::cout << "expecting A = [0, 2];" << std::endl;
+  x_squared = exprSquare(x_affine);
+  std::cout << "x_squared= " << x_squared << std::endl;
+  std::cout << "expecting Q = [0, 0;" << std::endl << "               0, 4]" << std::endl;
+  m_Q_expected.setZero();
+  m_Q_expected << 0, 0, 0, 4;
+  exprToEigen(x_squared, m_Q, v_q, n_vars, false, false);
+  EXPECT_TRUE(m_Q.isApprox(m_Q_expected)) << "error converting x_squared to "
+                                          << "Eigen::SparseMatrix. m_Q :" << std::endl
+                                          << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 1) << "m_Q.nonZeros() != 1" << std::endl;
+
+  exprToEigen(x_squared, m_Q, v_q, n_vars, true, false);
+  EXPECT_TRUE(m_Q.isApprox(2 * m_Q_expected)) << "error converting x_squared to"
+                                              << " Eigen::SparseMatrix. m_Q :" << std::endl
+                                              << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 1) << "m_Q.nonZeros() != 1" << std::endl;
+
+  exprToEigen(x_squared, m_Q, v_q, n_vars, false, true);
+  EXPECT_TRUE(m_Q.isApprox(m_Q_expected)) << "error converting x_squared to "
+                                          << "Eigen::SparseMatrix. m_Q :" << std::endl
+                                          << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 2) << "m_Q.nonZeros() != 2" << std::endl;
+
+  exprToEigen(x_squared, m_Q, v_q, n_vars, true, true);
+  EXPECT_TRUE(m_Q.isApprox(2 * m_Q_expected)) << "error converting x_squared to"
+                                              << "Eigen::SparseMatrix. m_Q :" << std::endl
+                                              << m_Q << std::endl;
+  EXPECT_EQ(m_Q.nonZeros(), 2) << "m_Q.nonZeros() != 2" << std::endl;
+}
+
+TEST(solver_utils, eigenToTriplets)
+{
+  Eigen::MatrixXd m_Q(2, 2);
+  m_Q << 9, 0, 6, 4;
+  Eigen::SparseMatrix<double> m_Q_sparse_expected = m_Q.sparseView();
+  IntVec m_Q_i, m_Q_j;
+  DblVec m_Q_ij;
+  eigenToTriplets(m_Q_sparse_expected, m_Q_i, m_Q_j, m_Q_ij);
+  Eigen::SparseMatrix<double> m_Q_sparse(2, 2);
+  tripletsToEigen(m_Q_i, m_Q_j, m_Q_ij, m_Q_sparse);
+  EXPECT_TRUE(m_Q_sparse.isApprox(m_Q)) << "m_Q != m_Q_sparse when converting "
+                                        << "m_Q -> triplets -> m_Q_sparse. m_Q:" << std::endl
+                                        << m_Q << std::endl;
+  EXPECT_EQ(m_Q_sparse.nonZeros(), 3) << "m_Q.nonZeros() != 3" << std::endl;
+}
+
+TEST(solver_utils, eigenToCSC)
+{
+  DblVec P;
+  IntVec rows_i;
+  IntVec cols_p;
+  {
+    /*
+     * M = [ 1, 2, 3,
+     *       1, 0, 9,
+     *       1, 8, 0]
+     */
+    Eigen::MatrixXd M(3, 3);
+    M << 1, 2, 3, 1, 0, 9, 1, 8, 0;
+    Eigen::SparseMatrix<double> Ms = M.sparseView();
+
+    eigenToCSC(Ms, rows_i, cols_p, P);
+
+    EXPECT_TRUE(rows_i.size() == P.size()) << "rows_i.size() != P.size()";
+    EXPECT_TRUE((P == DblVec{ 1, 1, 1, 2, 8, 3, 9 })) << "bad P:\n" << CSTR(P);
+    EXPECT_TRUE((rows_i == IntVec{ 0, 1, 2, 0, 2, 0, 1 })) << "bad rows_i:\n" << CSTR(rows_i);
+    EXPECT_TRUE((cols_p == IntVec{ 0, 3, 5, 7 })) << "cols_p not in "
+                                                  << "CRC form:\n"
+                                                  << CSTR(cols_p);
+  }
+  {
+    /*
+     * M = [ 0, 2, 0,
+     *       7, 0, 0,
+     *       0, 0, 0]
+     */
+    Eigen::SparseMatrix<double> M(3, 3);
+    M.coeffRef(0, 1) = 2;
+    M.coeffRef(1, 0) = 7;
+
+    eigenToCSC(M, rows_i, cols_p, P);
+
+    EXPECT_TRUE(rows_i.size() == P.size()) << "rows_i.size() != P.size()";
+    EXPECT_TRUE((P == DblVec{ 7, 2 })) << "bad P:\n" << CSTR(P);
+    EXPECT_TRUE((rows_i == IntVec{ 1, 0 })) << "rows_i != data_j:\n"
+                                            << CSTR(rows_i) << " vs\n"
+                                            << CSTR((IntVec{ 1, 0 }));
+    EXPECT_TRUE((cols_p == IntVec{ 0, 1, 2, 2 })) << "cols_p not in "
+                                                  << "CRC form:\n"
+                                                  << CSTR(cols_p);
+
+    std::vector<long long int> rows_i_ll, cols_p_ll;
+    std::vector<long long int> rows_i_ll_exp{ 1, 0 };
+    std::vector<long long int> cols_p_ll_exp{ 0, 1, 2, 2 };
+
+    eigenToCSC(M, rows_i_ll, cols_p_ll, P);
+    EXPECT_TRUE(rows_i_ll.size() == P.size()) << "rows_i_ll.size() != P.size()";
+    EXPECT_TRUE((rows_i_ll == rows_i_ll_exp));
+    EXPECT_TRUE((cols_p_ll == cols_p_ll_exp));
+
+    std::vector<unsigned long long int> rows_i_ull, cols_p_ull;
+    std::vector<unsigned long long int> rows_i_ull_exp{ 1, 0 };
+    std::vector<unsigned long long int> cols_p_ull_exp{ 0, 1, 2, 2 };
+    eigenToCSC(M, rows_i_ull, cols_p_ull, P);
+    EXPECT_TRUE(rows_i_ull.size() == P.size()) << "rows_i_ll.size() != P.size()";
+    EXPECT_TRUE((rows_i_ull == rows_i_ull_exp));
+    EXPECT_TRUE((cols_p_ull == cols_p_ull_exp));
+  }
+  {
+    /*
+     * M = [ 0, 0, 0,
+     *       0, 0, 0,
+     *       0, 6, 0]
+     */
+    Eigen::SparseMatrix<double> M(3, 3);
+    M.coeffRef(2, 1) = 6;
+
+    eigenToCSC(M, rows_i, cols_p, P);
+
+    EXPECT_TRUE(rows_i.size() == P.size()) << "rows_i.size() != P.size()";
+    EXPECT_TRUE((P == DblVec{ 6 })) << "bad P:\n" << CSTR(P);
+    EXPECT_TRUE((rows_i == IntVec{ 2 })) << "rows_i != data_j:\n" << CSTR(rows_i) << " vs\n" << CSTR((IntVec{ 1, 0 }));
+    EXPECT_TRUE((cols_p == IntVec{ 0, 0, 1, 1 })) << "cols_p not in "
+                                                  << "CRC form:\n"
+                                                  << CSTR(cols_p);
+  }
+}
+
+TEST(solver_utils, eigenToCSC_upper_triangular)
+{
+  /*
+   * M = [ 1, 2, 0,
+   *       2, 4, 0,
+   *       0, 0, 9]
+   */
+  Eigen::MatrixXd M(3, 3);
+  M << 1, 2, 0, 2, 4, 0, 0, 0, 9;
+  Eigen::SparseMatrix<double> Ms = M.sparseView();
+
+  DblVec P;
+  IntVec rows_i;
+  IntVec cols_p;
+  eigenToCSC<Eigen::Upper>(Ms, rows_i, cols_p, P);
+
+  EXPECT_TRUE(rows_i.size() == P.size()) << "rows_i.size() != P.size()";
+  EXPECT_TRUE((P == DblVec{ 1, 2, 4, 9 })) << "bad P:\n" << CSTR(P);
+  EXPECT_TRUE((rows_i == IntVec{ 0, 0, 1, 2 })) << "rows_i != expected"
+                                                << ":\n"
+                                                << CSTR(rows_i) << " vs\n"
+                                                << CSTR((IntVec{ 0, 0, 1, 2 }));
+  EXPECT_TRUE((cols_p == IntVec{ 0, 1, 3, 4 })) << "cols_p not in "
+                                                << "CRC form:\n"
+                                                << CSTR(cols_p);
+}
diff --git a/moveit_planners/trajopt/trajopt_sco/test/unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/unit.cpp
new file mode 100644
index 0000000000..539179562b
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/test/unit.cpp
@@ -0,0 +1,10 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <gtest/gtest.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+int main(int argc, char** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
new file mode 100644
index 0000000000..b5601e3116
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(trajopt_utils)
+
+add_compile_options(-std=c++11 -Wall -Wextra)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+find_package(Eigen3 REQUIRED)
+find_package(Boost COMPONENTS system python thread program_options REQUIRED)
+
+set(UTILS_SOURCE_FILES
+    src/stl_to_string.cpp
+    src/clock.cpp
+    src/config.cpp
+    src/logging.cpp
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+#  CATKIN_DEPENDS roscpp
+  DEPENDS
+    EIGEN3
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  SYSTEM ${EIGEN3_INCLUDE_DIRS}
+  SYSTEM ${Boost_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} ${UTILS_SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} ${Boost_PROGRAM_OPTIONS_LIBRARY})
+target_compile_options(${PROJECT_NAME} PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+
+# Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+  PATTERN ".svn" EXCLUDE
+ )
diff --git a/moveit_planners/trajopt/trajopt_utils/LICENSE b/moveit_planners/trajopt/trajopt_utils/LICENSE
new file mode 100644
index 0000000000..9103917b0f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/LICENSE
@@ -0,0 +1,11 @@
+Copyright (c) 2013, John Schulman
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+http://opensource.org/licenses/BSD-2-Clause
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
new file mode 100644
index 0000000000..a64c7ee0b5
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
@@ -0,0 +1,102 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+template <class T>
+struct BasicArray
+{
+  int m_nRow;
+  int m_nCol;
+  std::vector<T> m_data;
+
+  BasicArray() : m_nRow(0), m_nCol(0) {}
+  BasicArray(int nRow, int nCol) : m_nRow(nRow), m_nCol(nCol) { m_data.resize(m_nRow * m_nCol); }
+  BasicArray(int nRow, int nCol, const T* data) : m_nRow(nRow), m_nCol(nCol), m_data(data, data + nRow * nCol) {}
+  BasicArray(const BasicArray& x) : m_nRow(x.m_nRow), m_nCol(x.m_nCol), m_data(x.m_data) {}
+  void resize(int nRow, int nCol)
+  {
+    m_nRow = nRow;
+    m_nCol = nCol;
+    m_data.resize(static_cast<size_t>(m_nRow * m_nCol));
+  }
+
+  int rows() const { return m_nRow; }
+  int cols() const { return m_nCol; }
+  int size() const { return m_data.size(); }
+  BasicArray block(int startRow, int startCol, int nRow, int nCol) const
+  {
+    BasicArray out;
+    out.resize(nRow, nCol);
+    for (int iRow = 0; iRow < nRow; ++iRow)
+    {
+      for (int iCol = 0; iCol < nCol; ++iCol)
+      {
+        out(iRow, iCol) = at(iRow + startRow, iCol + startCol);
+      }
+    }
+    return out;
+  }
+  std::vector<T> rblock(int startRow, int startCol, int nCol) const
+  {
+    std::vector<T> out(static_cast<size_t>(nCol));
+    for (int iCol = 0; iCol < nCol; ++iCol)
+    {
+      out[static_cast<size_t>(iCol)] = at(static_cast<size_t>(startRow), static_cast<size_t>(iCol + startCol));
+    }
+    return out;
+  }
+  std::vector<T> cblock(int startRow, int startCol, int nRow) const
+  {
+    std::vector<T> out(nRow);
+    for (int iRow = 0; iRow < nRow; ++iRow)
+    {
+      out[iRow] = at(iRow + startRow, startCol);
+    }
+    return out;
+  }
+  BasicArray middleRows(int start, int n)
+  {
+    BasicArray out;
+    out.resize(n, m_nCol);
+    for (int i = start; i < start + n; ++i)
+    {
+      for (int j = 0; j < m_nCol; ++j)
+      {
+        out(i, j) = at(i, j);
+      }
+    }
+    return out;
+  }
+  BasicArray topRows(int n) { return middleRows(0, n); }
+  BasicArray bottomRows(int n) { return middleRows(m_nRow - n, n); }
+  const T& at(int row, int col) const { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  T& at(int row, int col) { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  const T& operator()(int row, int col) const { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  T& operator()(int row, int col) { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  std::vector<T> col(int col)
+  {
+    std::vector<T> out;
+    out.reserve(m_nRow);
+    for (int row = 0; row < m_nRow; row++)
+      out.push_back(at(row, col));
+    return out;
+  }
+
+  std::vector<T> row(int row)
+  {
+    std::vector<T> out;
+    out.reserve(static_cast<size_t>(m_nCol));
+    for (int col = 0; col < m_nCol; col++)
+      out.push_back(at(row, col));
+    return out;
+  }
+
+  std::vector<T> flatten() { return m_data; }
+  T* data() { return m_data.data(); }
+  T* data() const { return m_data.data(); }
+};
+}  // namespace util
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/clock.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/clock.hpp
new file mode 100644
index 0000000000..1fcf7c201f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/clock.hpp
@@ -0,0 +1,7 @@
+#pragma once
+
+namespace util
+{
+void StartClock();
+double GetClock();
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
new file mode 100644
index 0000000000..5624d42794
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
@@ -0,0 +1,63 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <boost/program_options.hpp>
+#include <iostream>
+#include <memory>
+#include <string>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace util
+{
+namespace po = boost::program_options;
+
+struct ParameterBase
+{
+  std::string m_name;
+  std::string m_desc;
+  ParameterBase(const std::string& name, const std::string& desc) : m_name(name), m_desc(desc) {}
+  virtual void addToBoost(po::options_description&) = 0;
+  virtual ~ParameterBase() {}
+};
+typedef std::shared_ptr<ParameterBase> ParameterBasePtr;
+
+template <typename T>
+struct ParameterVec : ParameterBase
+{
+  std::vector<T>* m_value;
+  ParameterVec(std::string name, std::vector<T>* value, std::string desc) : ParameterBase(name, desc), m_value(value) {}
+  void addToBoost(po::options_description& od)
+  {
+    od.add_options()(
+        m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value))->multitoken(), m_desc.c_str());
+  }
+};
+
+template <typename T>
+struct Parameter : ParameterBase
+{
+  T* m_value;
+  Parameter(std::string name, T* value, std::string desc) : ParameterBase(name, desc), m_value(value) {}
+  void addToBoost(po::options_description& od)
+  {
+    od.add_options()(m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value)), m_desc.c_str());
+  }
+};
+
+struct Config
+{
+  std::vector<ParameterBasePtr> params;
+  void add(ParameterBase* param) { params.push_back(ParameterBasePtr(param)); }
+};
+
+struct CommandParser
+{
+  std::vector<Config> configs;
+  void addGroup(const Config& config) { configs.push_back(config); }
+  CommandParser(const Config& config) { addGroup(config); }
+  void read(int argc, char* argv[]);
+};
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_conversions.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_conversions.hpp
new file mode 100644
index 0000000000..c8b89ceb92
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_conversions.hpp
@@ -0,0 +1,18 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+inline std::vector<double> toDblVec(const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>& x)
+{
+  return std::vector<double>(x.data(), x.data() + x.size());
+}
+inline Eigen::VectorXd toVectorXd(const std::vector<double>& x)
+{
+  return Eigen::Map<const Eigen::VectorXd>(x.data(), static_cast<long int>(x.size()));
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_slicing.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_slicing.hpp
new file mode 100644
index 0000000000..ac1e4fccdb
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/eigen_slicing.hpp
@@ -0,0 +1,27 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+template <typename VectorT>
+VectorT fancySlice(const VectorT& x, const std::vector<int>& inds)
+{
+  VectorT out(inds.size());
+  for (int i = 0; i < inds.size(); ++i)
+    out[i] = x[inds[i]];
+  return out;
+}
+
+template <typename VectorT>
+std::vector<int> flatnonzero(const VectorT& x)
+{
+  std::vector<int> out;
+  for (int i = 0; i < x.size(); ++i)
+    if (x[i] != 0)
+      out.push_back(i);
+  return out;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/interpolation.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/interpolation.hpp
new file mode 100644
index 0000000000..79d7f7550e
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/interpolation.hpp
@@ -0,0 +1,48 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+template <typename VectorT>
+Eigen::VectorXi searchsorted(const VectorT& x, const VectorT& y)
+{
+  // y(i-1) <= x(out(i)) < y(i)
+  int nX = x.size();
+  int nY = y.size();
+
+  Eigen::VectorXi out(nX);
+  int iY = 0;
+  for (int iX = 0; iX < nX; iX++)
+  {
+    while (iY < nY && x[iX] > y[iY])
+      iY++;
+    out(iX) = iY;
+  }
+  return out;
+}
+
+template <typename MatrixT, typename VectorT>
+MatrixT interp2d(const VectorT& xNew, const VectorT& xOld, const MatrixT& yOld)
+{
+  int nNew = xNew.size();
+  int nOld = xOld.size();
+  MatrixT yNew(nNew, yOld.cols());
+  Eigen::VectorXi new2old = searchsorted(xNew, xOld);
+  for (int iNew = 0; iNew < nNew; iNew++)
+  {
+    int iOldAbove = new2old(iNew);
+    if (iOldAbove == 0)
+      yNew.row(iNew) = yOld.row(0);
+    else if (iOldAbove == nOld)
+      yNew.row(iNew) = yOld.row(nOld - 1);
+    else
+    {
+      double t = (xNew(iNew) - xOld(iOldAbove - 1)) / (xOld(iOldAbove) - xOld(iOldAbove - 1));
+      yNew.row(iNew) = yOld.row(iOldAbove - 1) * (1 - t) + yOld.row(iOldAbove) * t;
+    }
+  }
+  return yNew;
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
new file mode 100644
index 0000000000..da8251685a
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
@@ -0,0 +1,71 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cstdio>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+enum LogLevel
+{
+  LevelFatal = 0,
+  LevelError = 1,
+  LevelWarn = 2,
+  LevelInfo = 3,
+  LevelDebug = 4,
+  LevelTrace = 5
+};
+
+extern LogLevel gLogLevel;
+inline LogLevel GetLogLevel() { return gLogLevel; }
+#define FATAL_PREFIX "\x1b[31m[FATAL] "
+#define ERROR_PREFIX "\x1b[31m[ERROR] "
+#define WARN_PREFIX "\x1b[33m[WARN] "
+#define INFO_PREFIX "[INFO] "
+#define DEBUG_PREFIX "\x1b[32m[DEBUG] "
+#define TRACE_PREFIX "\x1b[34m[TRACE] "
+#define LOG_SUFFIX "\x1b[0m\n"
+
+#define LOG_FATAL(msg, ...)                                                                                            \
+  if (util::GetLogLevel() >= util::LevelFatal)                                                                         \
+  {                                                                                                                    \
+    printf(FATAL_PREFIX);                                                                                              \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_ERROR(msg, ...)                                                                                            \
+  if (util::GetLogLevel() >= util::LevelError)                                                                         \
+  {                                                                                                                    \
+    printf(ERROR_PREFIX);                                                                                              \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_WARN(msg, ...)                                                                                             \
+  if (util::GetLogLevel() >= util::LevelWarn)                                                                          \
+  {                                                                                                                    \
+    printf(WARN_PREFIX);                                                                                               \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_INFO(msg, ...)                                                                                             \
+  if (util::GetLogLevel() >= util::LevelInfo)                                                                          \
+  {                                                                                                                    \
+    printf(INFO_PREFIX);                                                                                               \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_DEBUG(msg, ...)                                                                                            \
+  if (util::GetLogLevel() >= util::LevelDebug)                                                                         \
+  {                                                                                                                    \
+    printf(DEBUG_PREFIX);                                                                                              \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+#define LOG_TRACE(msg, ...)                                                                                            \
+  if (util::GetLogLevel() >= util::LevelTrace)                                                                         \
+  {                                                                                                                    \
+    printf(TRACE_PREFIX);                                                                                              \
+    printf(msg, ##__VA_ARGS__);                                                                                        \
+    printf(LOG_SUFFIX);                                                                                                \
+  }
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/macros.h b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/macros.h
new file mode 100644
index 0000000000..47332a1735
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/macros.h
@@ -0,0 +1,71 @@
+#pragma once
+#include <iostream>
+
+#define TRAJOPT_IGNORE_WARNINGS_PUSH                                                                                   \
+  _Pragma("GCC diagnostic push") _Pragma("GCC diagnostic ignored \"-Wall\"")                                           \
+      _Pragma("GCC diagnostic ignored \"-Wint-to-pointer-cast\"")                                                      \
+          _Pragma("GCC diagnostic ignored \"-Wunused-parameter\"")                                                     \
+              _Pragma("GCC diagnostic ignored \"-Wsuggest-override\"")                                                 \
+                  _Pragma("GCC diagnostic ignored \"-Wconversion\"")                                                   \
+                      _Pragma("GCC diagnostic ignored \"-Wfloat-conversion\"")                                         \
+                          _Pragma("GCC diagnostic ignored \"-Wsign-conversion\"")
+
+#define TRAJOPT_IGNORE_WARNINGS_POP _Pragma("GCC diagnostic pop")
+
+// Generic helper definitions for shared library support
+#if defined _WIN32 || defined __CYGWIN__
+#define TRAJOPT_HELPER_DLL_IMPORT __declspec(dllimport)
+#define TRAJOPT_HELPER_DLL_EXPORT __declspec(dllexport)
+#define TRAJOPT_HELPER_DLL_LOCAL
+#else
+#if __GNUC__ >= 4
+#define TRAJOPT_HELPER_DLL_IMPORT __attribute__((visibility("default")))
+#define TRAJOPT_HELPER_DLL_EXPORT __attribute__((visibility("default")))
+#define TRAJOPT_HELPER_DLL_LOCAL __attribute__((visibility("hidden")))
+#else
+#define TRAJOPT_HELPER_DLL_IMPORT
+#define TRAJOPT_HELPER_DLL_EXPORT
+#define TRAJOPT_HELPER_DLL_LOCAL
+#endif
+#endif
+
+// Now we use the generic helper definitions above to define TRAJOPT_API and TRAJOPT_LOCAL.
+// TRAJOPT_API is used for the public API symbols. It either DLL imports or DLL exports (or does nothing for static
+// build)
+// TRAJOPT_LOCAL is used for non-api symbols.
+
+#define TRAJOPT_DLL
+
+#ifdef TRAJOPT_DLL          // defined if TRAJOPT is compiled as a DLL
+#ifdef TRAJOPT_DLL_EXPORTS  // defined if we are building the TRAJOPT DLL (instead of using it)
+#define TRAJOPT_API TRAJOPT_HELPER_DLL_EXPORT
+#else
+#define TRAJOPT_API TRAJOPT_HELPER_DLL_IMPORT
+#endif  // TRAJOPT_DLL_EXPORTS
+#define TRAJOPT_LOCAL TRAJOPT_HELPER_DLL_LOCAL
+#else  // TRAJOPT_DLL is not defined: this means TRAJOPT is a static lib.
+#define TRAJOPT_API
+#define TRAJOPT_LOCAL
+#endif  // TRAJOPT_DLL
+
+#define PRINT_AND_THROW(s)                                                                                             \
+  do                                                                                                                   \
+  {                                                                                                                    \
+    std::cerr << "\033[1;31mERROR " << s << "\033[0m\n";                                                               \
+    std::cerr << "at " << __FILE__ << ":" << __LINE__ << std::endl;                                                    \
+    std::stringstream ss;                                                                                              \
+    ss << s;                                                                                                           \
+    throw std::runtime_error(ss.str());                                                                                \
+  } while (0)
+#define FAIL_IF_FALSE(expr)                                                                                            \
+  if (!(expr))                                                                                                         \
+  {                                                                                                                    \
+    PRINT_AND_THROW("expected true: " #expr);                                                                          \
+  }
+
+#define ALWAYS_ASSERT(exp)                                                                                             \
+  if (!(exp))                                                                                                          \
+  {                                                                                                                    \
+    printf("%s failed in file %s at line %i\n", #exp, __FILE__, __LINE__);                                             \
+    abort();                                                                                                           \
+  }
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
new file mode 100644
index 0000000000..9847eee813
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
@@ -0,0 +1,10 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cmath>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+float randf() { return (float)rand() / (float)RAND_MAX; }
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/stl_to_string.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/stl_to_string.hpp
new file mode 100644
index 0000000000..e6bbe304fa
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/stl_to_string.hpp
@@ -0,0 +1,73 @@
+#pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <iostream>
+#include <map>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+// std::string Str(const vector<double>& x);
+// std::string Str(const vector<float>& x);
+// std::string Str(const vector<int>& x);
+
+template <class T>
+std::string Str(const std::vector<T>& x)
+{
+  std::stringstream ss;
+  ss << "(";
+  if (x.size() > 0)
+    ss << x[0];
+  for (size_t i = 1; i < x.size(); ++i)
+    ss << ", " << x[i];
+  ss << ")";
+  return ss.str();
+}
+
+template <class T>
+std::string Str(const std::set<T>& x)
+{
+  std::stringstream ss;
+  ss << "{";
+  typename std::set<T>::const_iterator it = x.begin();
+  if (x.size() > 0)
+  {
+    ss << *it;
+    ++it;
+    for (; it != x.end(); ++it)
+      ss << ", " << *it;
+  }
+  ss << "}";
+  return ss.str();
+}
+
+template <class T>
+std::string Str(const T& x)
+{
+  std::stringstream ss;
+  ss << x;
+  return ss.str();
+}
+#define CSTR(x) util::Str(x).c_str()
+
+template <class K, class V>
+std::string Str(const typename std::map<K, V>& x)
+{
+  std::stringstream ss;
+  ss << "{";
+  typename std::map<K, V>::const_iterator it = x.begin();
+  if (x.size() > 0)
+  {
+    ss << Str(it->first) << " : " << Str(it->second);
+    ++it;
+    for (; it != x.end(); ++it)
+      ss << ", " << Str(it->first) << " : " << Str(it->second);
+  }
+  ss << "}";
+  return ss.str();
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
new file mode 100644
index 0000000000..9af82b3688
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
@@ -0,0 +1,17 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+namespace util
+{
+std::vector<int> arange(int n)
+{
+  std::vector<int> out(static_cast<size_t>(n));
+  for (int i = 0; i < n; ++i)
+    out[static_cast<size_t>(i)] = i;
+  return out;
+}
+
+inline bool doubleEquals(double x, double y, double eps = 1E-5) { return std::abs(x - y) < eps; }
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/package.xml b/moveit_planners/trajopt/trajopt_utils/package.xml
new file mode 100644
index 0000000000..0c38901c12
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>trajopt_utils</name>
+  <version>0.1.0</version>
+  <description>The trajopt_utils package</description>
+  <maintainer email="levi.armstrong@swri.org">Levi Armstrong</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/moveit_planners/trajopt/trajopt_utils/src/clock.cpp b/moveit_planners/trajopt/trajopt_utils/src/clock.cpp
new file mode 100644
index 0000000000..0ef0f05fc1
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/clock.cpp
@@ -0,0 +1,40 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <sys/time.h>
+#include <time.h>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_utils/clock.hpp>
+
+namespace util
+{
+static long unsigned int startTime = 0;
+
+/*
+ * Starts the clock!  Call this once at the beginning of the program.
+ * Calling again will reset the clock to 0;  but doing so is not
+ * thread-safe if other threads may be calling GetClock(); (which
+ * is thread-safe since it only reads values and calls thread-safe
+ * functions in the kernel).
+ */
+// time in units of seconds since some time in the past
+void StartClock()
+{
+  // determine start time
+  struct timeval startTimeStruct;
+  gettimeofday(&startTimeStruct, nullptr);
+  startTime = static_cast<unsigned long>(startTimeStruct.tv_sec * 1e6l + startTimeStruct.tv_usec);
+}
+
+/*
+ * Returns the current time since the call to StartClock();
+ */
+double GetClock()
+{
+  struct timeval startTimeStruct;
+  unsigned long int curTime;
+  gettimeofday(&startTimeStruct, nullptr);
+  curTime = static_cast<unsigned long>(startTimeStruct.tv_sec * 1e6l + startTimeStruct.tv_usec);
+  return (1e-6) * static_cast<double>(curTime - startTime);
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/src/config.cpp b/moveit_planners/trajopt/trajopt_utils/src/config.cpp
new file mode 100644
index 0000000000..07b687ff97
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/config.cpp
@@ -0,0 +1,27 @@
+#include <trajopt_utils/config.hpp>
+
+namespace util
+{
+void CommandParser::read(int argc, char* argv[])
+{
+  // create boost options_description based on variables, parser
+  po::options_description od;
+  od.add_options()("help,h", "produce help message");
+  for (std::size_t i = 0; i < configs.size(); ++i)
+  {
+    for (std::size_t j = 0; j < configs[i].params.size(); ++j)
+    {
+      configs[i].params[j]->addToBoost(od);
+    }
+  }
+  po::variables_map vm;
+  po::store(po::command_line_parser(argc, argv).options(od).run(), vm);
+  if (vm.count("help"))
+  {
+    std::cout << "usage: " << argv[0] << " [options]" << std::endl;
+    std::cout << od << std::endl;
+    exit(0);
+  }
+  po::notify(vm);
+}
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/src/logging.cpp b/moveit_planners/trajopt/trajopt_utils/src/logging.cpp
new file mode 100644
index 0000000000..f8510478ac
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/logging.cpp
@@ -0,0 +1,54 @@
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
+#include <cstdlib>
+#include <iostream>
+#include <string>
+TRAJOPT_IGNORE_WARNINGS_POP
+
+#include <trajopt_utils/logging.hpp>
+
+namespace util
+{
+LogLevel gLogLevel;
+
+int LoggingInit()
+{
+  const char* VALID_THRESH_VALUES = "FATAL ERROR WARN INFO DEBUG TRACE";
+
+  char* lvlc = getenv("TRAJOPT_LOG_THRESH");
+  std::string lvlstr;
+  if (lvlc == nullptr)
+  {
+    std::printf("You can set logging level with TRAJOPT_LOG_THRESH. Valid values: "
+                "%s. Defaulting to ERROR\n",
+                VALID_THRESH_VALUES);
+#ifdef NDEBUG
+    lvlstr = "ERROR";
+#else
+    lvlstr = "DEBUG";
+#endif
+  }
+  else
+    lvlstr = std::string(lvlc);
+  if (lvlstr == "FATAL")
+    gLogLevel = LevelFatal;
+  else if (lvlstr == "ERROR")
+    gLogLevel = LevelError;
+  else if (lvlstr == "WARN")
+    gLogLevel = LevelWarn;
+  else if (lvlstr == "INFO")
+    gLogLevel = LevelInfo;
+  else if (lvlstr == "DEBUG")
+    gLogLevel = LevelDebug;
+  else if (lvlstr == "TRACE")
+    gLogLevel = LevelTrace;
+  else
+  {
+    std::printf("Invalid value for environment variable TRAJOPT_LOG_THRESH: %s\n", lvlstr.c_str());
+    std::printf("Valid values: %s\n", VALID_THRESH_VALUES);
+    abort();
+  }
+  return 1;
+}
+int this_is_a_hack_but_rhs_executes_on_library_load = LoggingInit();
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp b/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
new file mode 100644
index 0000000000..0ac38542bd
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
@@ -0,0 +1,24 @@
+#include <trajopt_utils/stl_to_string.hpp>
+
+namespace
+{
+template <class T>
+std::string Str_impl(const std::vector<T>& x)
+{
+  std::stringstream ss;
+  ss << "(";
+  if (x.size() > 0)
+    ss << x[0];
+  for (size_t i = 1; i < x.size(); ++i)
+    ss << ", " << x[i];
+  ss << ")";
+  return ss.str();
+}
+}
+
+namespace util
+{
+std::string Str(const std::vector<double>& x) { return Str_impl(x); }
+std::string Str(const std::vector<float>& x) { return Str_impl(x); }
+std::string Str(const std::vector<int>& x) { return Str_impl(x); }
+}
diff --git a/moveit_planners/trajopt/trajopt_utils/src/test_logging.cpp b/moveit_planners/trajopt/trajopt_utils/src/test_logging.cpp
new file mode 100644
index 0000000000..a991c81bf0
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/src/test_logging.cpp
@@ -0,0 +1,12 @@
+#include <trajopt_ros/utils/logging.hpp>
+
+int main()
+{
+  LOG_FATAL("fatal");
+  LOG_ERROR("error");
+  LOG_WARN("warn");
+  LOG_INFO("info");
+  LOG_DEBUG("debug");
+  LOG_TRACE("trace");
+  printf("hi\n");
+}

From bc5299d508cfedb6a6cf626913f7f424ac975160 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 16 Aug 2019 11:19:10 -0600
Subject: [PATCH 84/96] clang format

---
 .../include/trajopt/trajectory_costs.hpp      | 208 +++++++++---------
 .../trajopt/include/trajopt/typedefs.hpp      |  33 +--
 .../trajopt/trajopt/include/trajopt/utils.hpp |  27 ++-
 .../trajopt/trajopt/src/trajectory_costs.cpp  | 136 ++++--------
 moveit_planners/trajopt/trajopt/src/utils.cpp |   5 +-
 .../src/trajopt_interface.cpp                 |  18 +-
 .../include/trajopt_sco/bpmpd_io.hpp          |  34 +--
 .../include/trajopt_sco/expr_op_overloads.hpp | 160 +++++++++++---
 .../include/trajopt_sco/expr_ops.hpp          |  50 ++++-
 .../include/trajopt_sco/modeling.hpp          | 152 ++++++++++---
 .../include/trajopt_sco/modeling_utils.hpp    |  49 +++--
 .../include/trajopt_sco/num_diff.hpp          |  41 ++--
 .../include/trajopt_sco/optimizers.hpp        |  45 +++-
 .../include/trajopt_sco/sco_common.hpp        |  15 +-
 .../include/trajopt_sco/solver_interface.hpp  |  79 +++++--
 .../include/trajopt_sco/solver_utils.hpp      |  26 +--
 .../trajopt/trajopt_sco/src/bpmpd_caller.cpp  |  49 +----
 .../trajopt_sco/src/bpmpd_interface.cpp       |  32 ++-
 .../trajopt/trajopt_sco/src/expr_ops.cpp      |   5 +-
 .../trajopt_sco/src/gurobi_interface.cpp      |  49 ++---
 .../trajopt/trajopt_sco/src/modeling.cpp      |  54 ++++-
 .../trajopt_sco/src/modeling_utils.cpp        |  29 +--
 .../trajopt/trajopt_sco/src/num_diff.cpp      |  50 +++--
 .../trajopt/trajopt_sco/src/optimizers.cpp    | 103 ++++-----
 .../trajopt_sco/src/osqp_interface.cpp        |  27 +--
 .../trajopt_sco/src/qpoases_interface.cpp     |  23 +-
 .../trajopt_sco/src/solver_interface.cpp      |  35 ++-
 .../trajopt/trajopt_sco/src/solver_utils.cpp  |  20 +-
 .../trajopt_sco/test/small-problems-unit.cpp  |  65 +++---
 .../test/solver-interface-unit.cpp            |   4 +-
 .../include/trajopt_utils/basic_array.hpp     |  77 +++++--
 .../include/trajopt_utils/config.hpp          |  35 ++-
 .../include/trajopt_utils/logging.hpp         |   5 +-
 .../include/trajopt_utils/math.hpp            |   5 +-
 .../include/trajopt_utils/vector_ops.hpp      |   5 +-
 .../trajopt_utils/src/stl_to_string.cpp       |  15 +-
 36 files changed, 1020 insertions(+), 745 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
index 5741151f74..c96b150bd2 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/trajectory_costs.hpp
@@ -15,16 +15,17 @@ class TRAJOPT_API JointPosEqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointPosEqCost(const VarArray& traj,
-                 const Eigen::VectorXd& coeffs,
-                 const Eigen::VectorXd& targets,
-                 int& first_step,
+  JointPosEqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets, int& first_step,
                  int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -48,18 +49,18 @@ class TRAJOPT_API JointPosIneqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointPosIneqCost(const VarArray& traj,
-                   const Eigen::VectorXd& coeffs,
-                   const Eigen::VectorXd& targets,
-                   const Eigen::VectorXd& upper_limits,
-                   const Eigen::VectorXd& lower_limits,
-                   int& first_step,
+  JointPosIneqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                    int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -83,17 +84,18 @@ class TRAJOPT_API JointPosEqConstraint : public sco::EqConstraint
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointPosEqConstraint(const VarArray& traj,
-                       const Eigen::VectorXd& coeffs,
-                       const Eigen::VectorXd& targetss,
-                       int& first_step,
-                       int& last_step);
+  JointPosEqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targetss,
+                       int& first_step, int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
 
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -113,18 +115,18 @@ class TRAJOPT_API JointPosIneqConstraint : public sco::IneqConstraint
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointPosIneqConstraint(const VarArray& traj,
-                         const Eigen::VectorXd& coeffs,
-                         const Eigen::VectorXd& targets,
-                         const Eigen::VectorXd& upper_limits,
-                         const Eigen::VectorXd& lower_limits,
-                         int& first_step,
+  JointPosIneqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                          int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -148,16 +150,17 @@ class TRAJOPT_API JointVelEqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointVelEqCost(const VarArray& traj,
-                 const Eigen::VectorXd& coeffs,
-                 const Eigen::VectorXd& targets,
-                 int& first_step,
+  JointVelEqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets, int& first_step,
                  int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values using Eigen*/
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -177,18 +180,18 @@ class TRAJOPT_API JointVelIneqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointVelIneqCost(const VarArray& traj,
-                   const Eigen::VectorXd& coeffs,
-                   const Eigen::VectorXd& targets,
-                   const Eigen::VectorXd& upper_limits,
-                   const Eigen::VectorXd& lower_limits,
-                   int& first_step,
+  JointVelIneqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                    int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -212,17 +215,18 @@ class TRAJOPT_API JointVelEqConstraint : public sco::EqConstraint
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointVelEqConstraint(const VarArray& traj,
-                       const Eigen::VectorXd& coeffs,
-                       const Eigen::VectorXd& targets,
-                       int& first_step,
-                       int& last_step);
+  JointVelEqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                       int& first_step, int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
 
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -242,18 +246,18 @@ class TRAJOPT_API JointVelIneqConstraint : public sco::IneqConstraint
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointVelIneqConstraint(const VarArray& traj,
-                         const Eigen::VectorXd& coeffs,
-                         const Eigen::VectorXd& targets,
-                         const Eigen::VectorXd& upper_limits,
-                         const Eigen::VectorXd& lower_limits,
-                         int& first_step,
+  JointVelIneqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                          int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -277,16 +281,17 @@ class TRAJOPT_API JointAccEqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointAccEqCost(const VarArray& traj,
-                 const Eigen::VectorXd& coeffs,
-                 const Eigen::VectorXd& targets,
-                 int& first_step,
+  JointAccEqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets, int& first_step,
                  int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -306,18 +311,18 @@ class TRAJOPT_API JointAccIneqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointAccIneqCost(const VarArray& traj,
-                   const Eigen::VectorXd& coeffs,
-                   const Eigen::VectorXd& targets,
-                   const Eigen::VectorXd& upper_limits,
-                   const Eigen::VectorXd& lower_limits,
-                   int& first_step,
+  JointAccIneqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                   const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                    int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -341,17 +346,18 @@ class TRAJOPT_API JointAccEqConstraint : public sco::EqConstraint
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointAccEqConstraint(const VarArray& traj,
-                       const Eigen::VectorXd& coeffs,
-                       const Eigen::VectorXd& targets,
-                       int& first_step,
-                       int& last_step);
+  JointAccEqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                       int& first_step, int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
 
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -371,18 +377,18 @@ class TRAJOPT_API JointAccIneqConstraint : public sco::IneqConstraint
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointAccIneqConstraint(const VarArray& traj,
-                         const Eigen::VectorXd& coeffs,
-                         const Eigen::VectorXd& targets,
-                         const Eigen::VectorXd& upper_limits,
-                         const Eigen::VectorXd& lower_limits,
-                         int& first_step,
+  JointAccIneqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                         const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                          int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -406,16 +412,17 @@ class TRAJOPT_API JointJerkEqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in QuadExpr - independent of penalty type */
-  JointJerkEqCost(const VarArray& traj,
-                  const Eigen::VectorXd& coeffs,
-                  const Eigen::VectorXd& targets,
-                  int& first_step,
+  JointJerkEqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets, int& first_step,
                   int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -435,18 +442,18 @@ class TRAJOPT_API JointJerkIneqCost : public sco::Cost
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointJerkIneqCost(const VarArray& traj,
-                    const Eigen::VectorXd& coeffs,
-                    const Eigen::VectorXd& targets,
-                    const Eigen::VectorXd& upper_limits,
-                    const Eigen::VectorXd& lower_limits,
-                    int& first_step,
+  JointJerkIneqCost(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                    const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                     int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   double value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -470,17 +477,18 @@ class TRAJOPT_API JointJerkEqConstraint : public sco::EqConstraint
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointJerkEqConstraint(const VarArray& traj,
-                        const Eigen::VectorXd& coeffs,
-                        const Eigen::VectorXd& targets,
-                        int& first_step,
-                        int& last_step);
+  JointJerkEqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                        int& first_step, int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
 
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
@@ -500,18 +508,18 @@ class TRAJOPT_API JointJerkIneqConstraint : public sco::IneqConstraint
 {
 public:
   /** @brief Forms error in a vector of AffExpr - independent of penalty type */
-  JointJerkIneqConstraint(const VarArray& traj,
-                          const Eigen::VectorXd& coeffs,
-                          const Eigen::VectorXd& targets,
-                          const Eigen::VectorXd& upper_limits,
-                          const Eigen::VectorXd& lower_limits,
-                          int& first_step,
+  JointJerkIneqConstraint(const VarArray& traj, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                          const Eigen::VectorXd& upper_limits, const Eigen::VectorXd& lower_limits, int& first_step,
                           int& last_step);
   /** @brief Convexifies cost expression - In this case, it is already quadratic so there's nothing to do */
   sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
   /** @brief Numerically evaluate cost given the vector of values */
   DblVec value(const DblVec&) override;
-  sco::VarVector getVars() override { return vars_.flatten(); }
+  sco::VarVector getVars() override
+  {
+    return vars_.flatten();
+  }
+
 private:
   /** @brief The variables being optimized. Used to properly index the vector being optimized */
   VarArray vars_;
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
index 28b06f3054..d6ae14e9a9 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/typedefs.hpp
@@ -20,32 +20,23 @@ typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> T
 typedef sco::DblVec DblVec;
 typedef sco::IntVec IntVec;
 
-
 /**  @brief Adds plotting to the CostFromErrFunc class in trajopt_sco */
 class TrajOptCostFromErrFunc : public sco::CostFromErrFunc
 {
 public:
   /// supply error function, obtain derivative numerically
-  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f,
-                         const sco::VarVector& vars,
-                         const Eigen::VectorXd& coeffs,
-                         sco::PenaltyType pen_type,
-                         const std::string& name)
+  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f, const sco::VarVector& vars, const Eigen::VectorXd& coeffs,
+                         sco::PenaltyType pen_type, const std::string& name)
     : CostFromErrFunc(f, vars, coeffs, pen_type, name)
   {
   }
 
   /// supply error function and gradient
-  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f,
-                         sco::MatrixOfVectorPtr dfdx,
-                         const sco::VarVector& vars,
-                         const Eigen::VectorXd& coeffs,
-                         sco::PenaltyType pen_type,
-                         const std::string& name)
+  TrajOptCostFromErrFunc(sco::VectorOfVectorPtr f, sco::MatrixOfVectorPtr dfdx, const sco::VarVector& vars,
+                         const Eigen::VectorXd& coeffs, sco::PenaltyType pen_type, const std::string& name)
     : CostFromErrFunc(f, dfdx, vars, coeffs, pen_type, name)
   {
   }
-
 };
 
 /**  @brief Adds plotting to the ConstraintFromFunc class in trajopt_sco */
@@ -53,25 +44,17 @@ class TrajOptConstraintFromErrFunc : public sco::ConstraintFromErrFunc
 {
 public:
   /// supply error function, obtain derivative numerically
-  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f,
-                               const sco::VarVector& vars,
-                               const Eigen::VectorXd& coeffs,
-                               sco::ConstraintType type,
-                               const std::string& name)
+  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f, const sco::VarVector& vars, const Eigen::VectorXd& coeffs,
+                               sco::ConstraintType type, const std::string& name)
     : ConstraintFromErrFunc(f, vars, coeffs, type, name)
   {
   }
 
   /// supply error function and gradient
-  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f,
-                               sco::MatrixOfVectorPtr dfdx,
-                               const sco::VarVector& vars,
-                               const Eigen::VectorXd& coeffs,
-                               sco::ConstraintType type,
-                               const std::string& name)
+  TrajOptConstraintFromErrFunc(sco::VectorOfVectorPtr f, sco::MatrixOfVectorPtr dfdx, const sco::VarVector& vars,
+                               const Eigen::VectorXd& coeffs, sco::ConstraintType type, const std::string& name)
     : ConstraintFromErrFunc(f, dfdx, vars, coeffs, type, name)
   {
   }
-
 };
 }
diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
index 9d24300402..710f21d42b 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/utils.hpp
@@ -9,10 +9,7 @@ TRAJOPT_IGNORE_WARNINGS_POP
 namespace trajopt
 {
 template <typename Key, typename Value>
-using AlignedUnorderedMap = std::unordered_map<Key,
-                                               Value,
-                                               std::hash<Key>,
-                                               std::equal_to<Key>,
+using AlignedUnorderedMap = std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>,
                                                Eigen::aligned_allocator<std::pair<const Key, Value>>>;
 
 /**
@@ -21,7 +18,10 @@ Extract trajectory array from solution vector x using indices in array vars
 TrajArray TRAJOPT_API getTraj(const DblVec& x, const VarArray& vars);
 TrajArray TRAJOPT_API getTraj(const DblVec& x, const AffArray& arr);
 
-inline DblVec trajToDblVec(const TrajArray& x) { return DblVec(x.data(), x.data() + x.rows() * x.cols()); }
+inline DblVec trajToDblVec(const TrajArray& x)
+{
+  return DblVec(x.data(), x.data() + x.rows() * x.cols());
+}
 
 /**
  * @brief Appends b to a of type VectorXd
@@ -53,11 +53,8 @@ std::vector<T> singleton(const T& x)
   return std::vector<T>(1, x);
 }
 
-void TRAJOPT_API AddVarArrays(sco::OptProb& prob,
-                              int rows,
-                              const std::vector<int>& cols,
-                              const std::vector<std::string>& name_prefix,
-                              const std::vector<VarArray*>& newvars);
+void TRAJOPT_API AddVarArrays(sco::OptProb& prob, int rows, const std::vector<int>& cols,
+                              const std::vector<std::string>& name_prefix, const std::vector<VarArray*>& newvars);
 
 void TRAJOPT_API AddVarArray(sco::OptProb& prob, int rows, int cols, const std::string& name_prefix, VarArray& newvars);
 
@@ -83,9 +80,7 @@ struct SafetyMarginData
    * @param safety_margin_coeffs A safety margin coefficient vector where each
    * element corresponds to a given timestep.
    */
-  void SetPairSafetyMarginData(const std::string& obj1,
-                               const std::string& obj2,
-                               const double& safety_margin,
+  void SetPairSafetyMarginData(const std::string& obj1, const std::string& obj2, const double& safety_margin,
                                const double& safety_margin_coeff)
   {
     Eigen::Vector2d data(safety_margin, safety_margin_coeff);
@@ -114,7 +109,11 @@ struct SafetyMarginData
     }
   }
 
-  const double& getMaxSafetyMargin() const { return max_safety_margin_; }
+  const double& getMaxSafetyMargin() const
+  {
+    return max_safety_margin_;
+  }
+
 private:
   /// The coeff used during optimization
   /// safety margin: contacts with distance < dist_pen are penalized
diff --git a/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp b/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
index eaaa1b0fd4..b12fcf925b 100644
--- a/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
+++ b/moveit_planners/trajopt/trajopt/src/trajectory_costs.cpp
@@ -23,11 +23,8 @@ namespace trajopt
 //////////// Joint cost functions /////////////////
 
 //////////////////// Position /////////////////////
-JointPosEqCost::JointPosEqCost(const VarArray& vars,
-                               const Eigen::VectorXd& coeffs,
-                               const Eigen::VectorXd& targets,
-                               int& first_step,
-                               int& last_step)
+JointPosEqCost::JointPosEqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                               int& first_step, int& last_step)
   : Cost("JointPosEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
 {
   for (int i = first_step_; i <= last_step_; ++i)
@@ -60,13 +57,9 @@ sco::ConvexObjectivePtr JointPosEqCost::convex(const DblVec& /*x*/, sco::Model*
   return out;
 }
 
-JointPosIneqCost::JointPosIneqCost(const VarArray& vars,
-                                   const Eigen::VectorXd& coeffs,
-                                   const Eigen::VectorXd& targets,
-                                   const Eigen::VectorXd& upper_tols,
-                                   const Eigen::VectorXd& lower_tols,
-                                   int& first_step,
-                                   int& last_step)
+JointPosIneqCost::JointPosIneqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols, const Eigen::VectorXd& lower_tols,
+                                   int& first_step, int& last_step)
   : Cost("JointPosIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -128,11 +121,8 @@ sco::ConvexObjectivePtr JointPosIneqCost::convex(const DblVec& /*x*/, sco::Model
   return out;
 }
 
-JointPosEqConstraint::JointPosEqConstraint(const VarArray& vars,
-                                           const Eigen::VectorXd& coeffs,
-                                           const Eigen::VectorXd& targets,
-                                           int& first_step,
-                                           int& last_step)
+JointPosEqConstraint::JointPosEqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets, int& first_step, int& last_step)
   : EqConstraint("JointPosEq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -174,13 +164,9 @@ sco::ConvexConstraintsPtr JointPosEqConstraint::convex(const DblVec& /*x*/, sco:
   return out;
 }
 
-JointPosIneqConstraint::JointPosIneqConstraint(const VarArray& vars,
-                                               const Eigen::VectorXd& coeffs,
-                                               const Eigen::VectorXd& targets,
-                                               const Eigen::VectorXd& upper_tols,
-                                               const Eigen::VectorXd& lower_tols,
-                                               int& first_step,
-                                               int& last_step)
+JointPosIneqConstraint::JointPosIneqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : IneqConstraint("JointPosIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -245,11 +231,8 @@ sco::ConvexConstraintsPtr JointPosIneqConstraint::convex(const DblVec& /*x*/, sc
 }
 
 //////////////////// Velocity /////////////////////
-JointVelEqCost::JointVelEqCost(const VarArray& vars,
-                               const Eigen::VectorXd& coeffs,
-                               const Eigen::VectorXd& targets,
-                               int& first_step,
-                               int& last_step)
+JointVelEqCost::JointVelEqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                               int& first_step, int& last_step)
   : Cost("JointVelEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
 {
   for (int i = first_step_; i <= last_step_ - 1; ++i)
@@ -283,13 +266,9 @@ sco::ConvexObjectivePtr JointVelEqCost::convex(const DblVec& /*x*/, sco::Model*
   return out;
 }
 
-JointVelIneqCost::JointVelIneqCost(const VarArray& vars,
-                                   const Eigen::VectorXd& coeffs,
-                                   const Eigen::VectorXd& targets,
-                                   const Eigen::VectorXd& upper_tols,
-                                   const Eigen::VectorXd& lower_tols,
-                                   int& first_step,
-                                   int& last_step)
+JointVelIneqCost::JointVelIneqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols, const Eigen::VectorXd& lower_tols,
+                                   int& first_step, int& last_step)
   : Cost("JointVelIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -353,11 +332,8 @@ sco::ConvexObjectivePtr JointVelIneqCost::convex(const DblVec& /*x*/, sco::Model
   return out;
 }
 
-JointVelEqConstraint::JointVelEqConstraint(const VarArray& vars,
-                                           const Eigen::VectorXd& coeffs,
-                                           const Eigen::VectorXd& targets,
-                                           int& first_step,
-                                           int& last_step)
+JointVelEqConstraint::JointVelEqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets, int& first_step, int& last_step)
   : EqConstraint("JointVelEq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -400,13 +376,9 @@ sco::ConvexConstraintsPtr JointVelEqConstraint::convex(const DblVec& /*x*/, sco:
   return out;
 }
 
-JointVelIneqConstraint::JointVelIneqConstraint(const VarArray& vars,
-                                               const Eigen::VectorXd& coeffs,
-                                               const Eigen::VectorXd& targets,
-                                               const Eigen::VectorXd& upper_tols,
-                                               const Eigen::VectorXd& lower_tols,
-                                               int& first_step,
-                                               int& last_step)
+JointVelIneqConstraint::JointVelIneqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : IneqConstraint("JointVelIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -473,11 +445,8 @@ sco::ConvexConstraintsPtr JointVelIneqConstraint::convex(const DblVec& /*x*/, sc
 }
 
 //////////////////// Acceleration /////////////////////
-JointAccEqCost::JointAccEqCost(const VarArray& vars,
-                               const Eigen::VectorXd& coeffs,
-                               const Eigen::VectorXd& targets,
-                               int& first_step,
-                               int& last_step)
+JointAccEqCost::JointAccEqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                               int& first_step, int& last_step)
   : Cost("JointAccEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
 {
   for (int i = first_step_; i <= last_step_ - 2; ++i)
@@ -514,13 +483,9 @@ sco::ConvexObjectivePtr JointAccEqCost::convex(const DblVec& /*x*/, sco::Model*
   return out;
 }
 
-JointAccIneqCost::JointAccIneqCost(const VarArray& vars,
-                                   const Eigen::VectorXd& coeffs,
-                                   const Eigen::VectorXd& targets,
-                                   const Eigen::VectorXd& upper_tols,
-                                   const Eigen::VectorXd& lower_tols,
-                                   int& first_step,
-                                   int& last_step)
+JointAccIneqCost::JointAccIneqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                                   const Eigen::VectorXd& upper_tols, const Eigen::VectorXd& lower_tols,
+                                   int& first_step, int& last_step)
   : Cost("JointAccIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -585,11 +550,8 @@ sco::ConvexObjectivePtr JointAccIneqCost::convex(const DblVec& /*x*/, sco::Model
   return out;
 }
 
-JointAccEqConstraint::JointAccEqConstraint(const VarArray& vars,
-                                           const Eigen::VectorXd& coeffs,
-                                           const Eigen::VectorXd& targets,
-                                           int& first_step,
-                                           int& last_step)
+JointAccEqConstraint::JointAccEqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                           const Eigen::VectorXd& targets, int& first_step, int& last_step)
   : EqConstraint("JointAccEq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -635,13 +597,9 @@ sco::ConvexConstraintsPtr JointAccEqConstraint::convex(const DblVec& /*x*/, sco:
   return out;
 }
 
-JointAccIneqConstraint::JointAccIneqConstraint(const VarArray& vars,
-                                               const Eigen::VectorXd& coeffs,
-                                               const Eigen::VectorXd& targets,
-                                               const Eigen::VectorXd& upper_tols,
-                                               const Eigen::VectorXd& lower_tols,
-                                               int& first_step,
-                                               int& last_step)
+JointAccIneqConstraint::JointAccIneqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                               const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                               const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : IneqConstraint("JointAccIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -710,11 +668,8 @@ sco::ConvexConstraintsPtr JointAccIneqConstraint::convex(const DblVec& /*x*/, sc
 }
 
 //////////////////// Jerk /////////////////////
-JointJerkEqCost::JointJerkEqCost(const VarArray& vars,
-                                 const Eigen::VectorXd& coeffs,
-                                 const Eigen::VectorXd& targets,
-                                 int& first_step,
-                                 int& last_step)
+JointJerkEqCost::JointJerkEqCost(const VarArray& vars, const Eigen::VectorXd& coeffs, const Eigen::VectorXd& targets,
+                                 int& first_step, int& last_step)
   : Cost("JointJerkEq"), vars_(vars), coeffs_(coeffs), targets_(targets), first_step_(first_step), last_step_(last_step)
 {
   for (int i = first_step_; i <= last_step_ - 4; ++i)
@@ -753,13 +708,9 @@ sco::ConvexObjectivePtr JointJerkEqCost::convex(const DblVec& /*x*/, sco::Model*
   return out;
 }
 
-JointJerkIneqCost::JointJerkIneqCost(const VarArray& vars,
-                                     const Eigen::VectorXd& coeffs,
-                                     const Eigen::VectorXd& targets,
-                                     const Eigen::VectorXd& upper_tols,
-                                     const Eigen::VectorXd& lower_tols,
-                                     int& first_step,
-                                     int& last_step)
+JointJerkIneqCost::JointJerkIneqCost(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                     const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                     const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : Cost("JointJerkIneq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -826,11 +777,8 @@ sco::ConvexObjectivePtr JointJerkIneqCost::convex(const DblVec& /*x*/, sco::Mode
   return out;
 }
 
-JointJerkEqConstraint::JointJerkEqConstraint(const VarArray& vars,
-                                             const Eigen::VectorXd& coeffs,
-                                             const Eigen::VectorXd& targets,
-                                             int& first_step,
-                                             int& last_step)
+JointJerkEqConstraint::JointJerkEqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                             const Eigen::VectorXd& targets, int& first_step, int& last_step)
   : EqConstraint("JointJerkEq")
   , vars_(vars)
   , coeffs_(coeffs)
@@ -878,13 +826,9 @@ sco::ConvexConstraintsPtr JointJerkEqConstraint::convex(const DblVec& /*x*/, sco
   return out;
 }
 
-JointJerkIneqConstraint::JointJerkIneqConstraint(const VarArray& vars,
-                                                 const Eigen::VectorXd& coeffs,
-                                                 const Eigen::VectorXd& targets,
-                                                 const Eigen::VectorXd& upper_tols,
-                                                 const Eigen::VectorXd& lower_tols,
-                                                 int& first_step,
-                                                 int& last_step)
+JointJerkIneqConstraint::JointJerkIneqConstraint(const VarArray& vars, const Eigen::VectorXd& coeffs,
+                                                 const Eigen::VectorXd& targets, const Eigen::VectorXd& upper_tols,
+                                                 const Eigen::VectorXd& lower_tols, int& first_step, int& last_step)
   : IneqConstraint("JointJerkIneq")
   , vars_(vars)
   , coeffs_(coeffs)
diff --git a/moveit_planners/trajopt/trajopt/src/utils.cpp b/moveit_planners/trajopt/trajopt/src/utils.cpp
index 95fb423fbb..dbd87f4fb6 100644
--- a/moveit_planners/trajopt/trajopt/src/utils.cpp
+++ b/moveit_planners/trajopt/trajopt/src/utils.cpp
@@ -35,10 +35,7 @@ TrajArray getTraj(const DblVec& x, const AffArray& arr)
   return out;
 }
 
-void AddVarArrays(sco::OptProb& prob,
-                  int rows,
-                  const IntVec& cols,
-                  const std::vector<std::string>& name_prefix,
+void AddVarArrays(sco::OptProb& prob, int rows, const IntVec& cols, const std::vector<std::string>& name_prefix,
                   const std::vector<VarArray*>& newvars)
 {
   size_t n_arr = name_prefix.size();
diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index 1fa526b385..f8b54c7d39 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -239,15 +239,15 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
   std::string problem_info_type;
   switch (problem_info.init_info.type)
   {
-  case trajopt::InitInfo::STATIONARY:
-    problem_info_type = "STATIONARY";
-    break;
-  case trajopt::InitInfo::JOINT_INTERPOLATED:
-    problem_info_type = "JOINT_INTERPOLATED";
-    break;
-  case trajopt::InitInfo::GIVEN_TRAJ:
-    problem_info_type = "GIVEN_TRAJ";
-    break;
+    case trajopt::InitInfo::STATIONARY:
+      problem_info_type = "STATIONARY";
+      break;
+    case trajopt::InitInfo::JOINT_INTERPOLATED:
+      problem_info_type = "JOINT_INTERPOLATED";
+      break;
+    case trajopt::InitInfo::GIVEN_TRAJ:
+      problem_info_type = "GIVEN_TRAJ";
+      break;
   }
   ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.type: " << problem_info_type);
   ROS_DEBUG_STREAM_NAMED(name_, "problem_info.basic_info.dt: " << problem_info.init_info.dt);
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
index f2e6d4a0e9..a9c296970a 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/bpmpd_io.hpp
@@ -70,22 +70,13 @@ struct bpmpd_input
   std::vector<double> qcolnzs;
   std::vector<double> rhs, obj, lbound, ubound;
 
-  bpmpd_input() {}
-  bpmpd_input(int m,
-              int n,
-              int nz,
-              int qn,
-              int qnz,
-              const std::vector<int>& acolcnt,
-              const std::vector<int>& acolidx,
-              const std::vector<double>& acolnzs,
-              const std::vector<int>& qcolcnt,
-              const std::vector<int>& qcolidx,
-              const std::vector<double>& qcolnzs,
-              const std::vector<double>& rhs,
-              const std::vector<double>& obj,
-              const std::vector<double>& lbound,
-              const std::vector<double>& ubound)
+  bpmpd_input()
+  {
+  }
+  bpmpd_input(int m, int n, int nz, int qn, int qnz, const std::vector<int>& acolcnt, const std::vector<int>& acolidx,
+              const std::vector<double>& acolnzs, const std::vector<int>& qcolcnt, const std::vector<int>& qcolidx,
+              const std::vector<double>& qcolnzs, const std::vector<double>& rhs, const std::vector<double>& obj,
+              const std::vector<double>& lbound, const std::vector<double>& ubound)
     : m(m)
     , n(n)
     , nz(nz)
@@ -140,12 +131,11 @@ struct bpmpd_output
   std::vector<int> status;
   int code;
   double opt;
-  bpmpd_output() {}
-  bpmpd_output(const std::vector<double>& primal,
-               const std::vector<double>& dual,
-               const std::vector<int>& status,
-               int code,
-               double opt)
+  bpmpd_output()
+  {
+  }
+  bpmpd_output(const std::vector<double>& primal, const std::vector<double>& dual, const std::vector<int>& status,
+               int code, double opt)
     : primal(primal), dual(dual), status(status), code(code), opt(opt)
   {
   }
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
index 6878b8beb0..70e89ad02e 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_op_overloads.hpp
@@ -3,38 +3,134 @@
 
 namespace sco
 {
-inline AffExpr operator+(const Var& x, double y) { return exprAdd(AffExpr(x), y); }
-inline AffExpr operator+(const AffExpr& x, double y) { return exprAdd(x, y); }
-inline QuadExpr operator+(const QuadExpr& x, double y) { return exprAdd(x, y); }
-inline AffExpr operator+(const Var& x, const Var& y) { return exprAdd(AffExpr(x), y); }
-inline AffExpr operator+(const AffExpr& x, const Var& y) { return exprAdd(x, y); }
-inline QuadExpr operator+(const QuadExpr& x, const Var& y) { return exprAdd(x, y); }
-inline AffExpr operator+(const Var& x, const AffExpr& y) { return exprAdd(AffExpr(x), y); }
-inline AffExpr operator+(const AffExpr& x, const AffExpr& y) { return exprAdd(x, y); }
-inline QuadExpr operator+(const QuadExpr& x, const AffExpr& y) { return exprAdd(x, y); }
-inline QuadExpr operator+(const Var& x, const QuadExpr& y) { return exprAdd(QuadExpr(x), y); }
-inline QuadExpr operator+(const AffExpr& x, const QuadExpr& y) { return exprAdd(QuadExpr(x), y); }
-inline QuadExpr operator+(const QuadExpr& x, const QuadExpr& y) { return exprAdd(x, y); }
-inline AffExpr operator-(const Var& x, double y) { return exprSub(AffExpr(x), y); }
-inline AffExpr operator-(const AffExpr& x, double y) { return exprSub(x, y); }
-inline QuadExpr operator-(const QuadExpr& x, double y) { return exprSub(x, y); }
-inline AffExpr operator-(const Var& x, const Var& y) { return exprSub(AffExpr(x), y); }
-inline AffExpr operator-(const AffExpr& x, const Var& y) { return exprSub(x, y); }
-inline QuadExpr operator-(const QuadExpr& x, const Var& y) { return exprSub(x, y); }
-inline AffExpr operator-(const Var& x, const AffExpr& y) { return exprSub(AffExpr(x), y); }
-inline AffExpr operator-(const AffExpr& x, const AffExpr& y) { return exprSub(x, y); }
-inline QuadExpr operator-(const QuadExpr& x, const AffExpr& y) { return exprSub(x, y); }
-inline QuadExpr operator-(const Var& x, const QuadExpr& y) { return exprSub(QuadExpr(x), y); }
-inline QuadExpr operator-(const AffExpr& x, const QuadExpr& y) { return exprSub(QuadExpr(x), y); }
-inline QuadExpr operator-(const QuadExpr& x, const QuadExpr& y) { return exprSub(x, y); }
+inline AffExpr operator+(const Var& x, double y)
+{
+  return exprAdd(AffExpr(x), y);
+}
+inline AffExpr operator+(const AffExpr& x, double y)
+{
+  return exprAdd(x, y);
+}
+inline QuadExpr operator+(const QuadExpr& x, double y)
+{
+  return exprAdd(x, y);
+}
+inline AffExpr operator+(const Var& x, const Var& y)
+{
+  return exprAdd(AffExpr(x), y);
+}
+inline AffExpr operator+(const AffExpr& x, const Var& y)
+{
+  return exprAdd(x, y);
+}
+inline QuadExpr operator+(const QuadExpr& x, const Var& y)
+{
+  return exprAdd(x, y);
+}
+inline AffExpr operator+(const Var& x, const AffExpr& y)
+{
+  return exprAdd(AffExpr(x), y);
+}
+inline AffExpr operator+(const AffExpr& x, const AffExpr& y)
+{
+  return exprAdd(x, y);
+}
+inline QuadExpr operator+(const QuadExpr& x, const AffExpr& y)
+{
+  return exprAdd(x, y);
+}
+inline QuadExpr operator+(const Var& x, const QuadExpr& y)
+{
+  return exprAdd(QuadExpr(x), y);
+}
+inline QuadExpr operator+(const AffExpr& x, const QuadExpr& y)
+{
+  return exprAdd(QuadExpr(x), y);
+}
+inline QuadExpr operator+(const QuadExpr& x, const QuadExpr& y)
+{
+  return exprAdd(x, y);
+}
+inline AffExpr operator-(const Var& x, double y)
+{
+  return exprSub(AffExpr(x), y);
+}
+inline AffExpr operator-(const AffExpr& x, double y)
+{
+  return exprSub(x, y);
+}
+inline QuadExpr operator-(const QuadExpr& x, double y)
+{
+  return exprSub(x, y);
+}
+inline AffExpr operator-(const Var& x, const Var& y)
+{
+  return exprSub(AffExpr(x), y);
+}
+inline AffExpr operator-(const AffExpr& x, const Var& y)
+{
+  return exprSub(x, y);
+}
+inline QuadExpr operator-(const QuadExpr& x, const Var& y)
+{
+  return exprSub(x, y);
+}
+inline AffExpr operator-(const Var& x, const AffExpr& y)
+{
+  return exprSub(AffExpr(x), y);
+}
+inline AffExpr operator-(const AffExpr& x, const AffExpr& y)
+{
+  return exprSub(x, y);
+}
+inline QuadExpr operator-(const QuadExpr& x, const AffExpr& y)
+{
+  return exprSub(x, y);
+}
+inline QuadExpr operator-(const Var& x, const QuadExpr& y)
+{
+  return exprSub(QuadExpr(x), y);
+}
+inline QuadExpr operator-(const AffExpr& x, const QuadExpr& y)
+{
+  return exprSub(QuadExpr(x), y);
+}
+inline QuadExpr operator-(const QuadExpr& x, const QuadExpr& y)
+{
+  return exprSub(x, y);
+}
 ///////////////
 
-inline AffExpr operator*(double a, const Var& b) { return exprMult(b, a); }
-inline AffExpr operator*(double a, const AffExpr& b) { return exprMult(b, a); }
-inline QuadExpr operator*(double a, const QuadExpr& b) { return exprMult(b, a); }
-inline AffExpr operator*(const Var& a, double b) { return exprMult(a, b); }
-inline AffExpr operator*(const AffExpr& a, double b) { return exprMult(a, b); }
-inline QuadExpr operator*(const QuadExpr& a, double b) { return exprMult(a, b); }
-inline AffExpr operator-(const Var& a) { return exprMult(a, -1); }
-inline AffExpr operator-(const AffExpr& a) { return exprMult(a, -1); }
+inline AffExpr operator*(double a, const Var& b)
+{
+  return exprMult(b, a);
+}
+inline AffExpr operator*(double a, const AffExpr& b)
+{
+  return exprMult(b, a);
+}
+inline QuadExpr operator*(double a, const QuadExpr& b)
+{
+  return exprMult(b, a);
+}
+inline AffExpr operator*(const Var& a, double b)
+{
+  return exprMult(a, b);
+}
+inline AffExpr operator*(const AffExpr& a, double b)
+{
+  return exprMult(a, b);
+}
+inline QuadExpr operator*(const QuadExpr& a, double b)
+{
+  return exprMult(a, b);
+}
+inline AffExpr operator-(const Var& a)
+{
+  return exprMult(a, -1);
+}
+inline AffExpr operator-(const AffExpr& a)
+{
+  return exprMult(a, -1);
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
index ac4facc9c1..bb934c6131 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/expr_ops.hpp
@@ -21,17 +21,32 @@ inline void exprScale(QuadExpr& q, double a)
 }
 
 // addition
-inline void exprInc(AffExpr& a, double b) { a.constant += b; }
+inline void exprInc(AffExpr& a, double b)
+{
+  a.constant += b;
+}
 inline void exprInc(AffExpr& a, const AffExpr& b)
 {
   a.constant += b.constant;
   a.coeffs.insert(a.coeffs.end(), b.coeffs.begin(), b.coeffs.end());
   a.vars.insert(a.vars.end(), b.vars.begin(), b.vars.end());
 }
-inline void exprInc(AffExpr& a, const Var& b) { exprInc(a, AffExpr(b)); }
-inline void exprInc(QuadExpr& a, double b) { exprInc(a.affexpr, b); }
-inline void exprInc(QuadExpr& a, const Var& b) { exprInc(a.affexpr, AffExpr(b)); }
-inline void exprInc(QuadExpr& a, const AffExpr& b) { exprInc(a.affexpr, b); }
+inline void exprInc(AffExpr& a, const Var& b)
+{
+  exprInc(a, AffExpr(b));
+}
+inline void exprInc(QuadExpr& a, double b)
+{
+  exprInc(a.affexpr, b);
+}
+inline void exprInc(QuadExpr& a, const Var& b)
+{
+  exprInc(a.affexpr, AffExpr(b));
+}
+inline void exprInc(QuadExpr& a, const AffExpr& b)
+{
+  exprInc(a.affexpr, b);
+}
 inline void exprInc(QuadExpr& a, const QuadExpr& b)
 {
   exprInc(a.affexpr, b.affexpr);
@@ -41,16 +56,31 @@ inline void exprInc(QuadExpr& a, const QuadExpr& b)
 }
 
 // subtraction
-inline void exprDec(AffExpr& a, double b) { a.constant -= b; }
+inline void exprDec(AffExpr& a, double b)
+{
+  a.constant -= b;
+}
 inline void exprDec(AffExpr& a, AffExpr b)
 {
   exprScale(b, -1);
   exprInc(a, b);
 }
-inline void exprDec(AffExpr& a, const Var& b) { exprDec(a, AffExpr(b)); }
-inline void exprDec(QuadExpr& a, double b) { exprDec(a.affexpr, b); }
-inline void exprDec(QuadExpr& a, const Var& b) { exprDec(a.affexpr, b); }
-inline void exprDec(QuadExpr& a, const AffExpr& b) { exprDec(a.affexpr, b); }
+inline void exprDec(AffExpr& a, const Var& b)
+{
+  exprDec(a, AffExpr(b));
+}
+inline void exprDec(QuadExpr& a, double b)
+{
+  exprDec(a.affexpr, b);
+}
+inline void exprDec(QuadExpr& a, const Var& b)
+{
+  exprDec(a.affexpr, b);
+}
+inline void exprDec(QuadExpr& a, const AffExpr& b)
+{
+  exprDec(a.affexpr, b);
+}
 inline void exprDec(QuadExpr& a, QuadExpr b)
 {
   exprScale(b, -1);
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
index 2081144679..0db00f76f4 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling.hpp
@@ -27,7 +27,9 @@ model are removed
 class ConvexObjective
 {
 public:
-  ConvexObjective(Model* model) : model_(model) {}
+  ConvexObjective(Model* model) : model_(model)
+  {
+  }
   void addAffExpr(const AffExpr&);
   void addQuadExpr(const QuadExpr&);
   void addHinge(const AffExpr&, double coeff);
@@ -37,7 +39,10 @@ class ConvexObjective
   void addL2Norm(const AffExprVector&);
   void addMax(const AffExprVector&);
 
-  bool inModel() { return model_ != nullptr; }
+  bool inModel()
+  {
+    return model_ != nullptr;
+  }
   void addConstraintsToModel();
   void removeFromModel();
   double value(const DblVec& x);
@@ -52,8 +57,12 @@ class ConvexObjective
   CntVector cnts_;
 
 private:
-  ConvexObjective() {}
-  ConvexObjective(ConvexObjective&) {}
+  ConvexObjective()
+  {
+  }
+  ConvexObjective(ConvexObjective&)
+  {
+  }
 };
 
 /**
@@ -63,7 +72,9 @@ Actually only affine inequality constraints are currently implemented.
 class ConvexConstraints
 {
 public:
-  ConvexConstraints(Model* model) : model_(model) {}
+  ConvexConstraints(Model* model) : model_(model)
+  {
+  }
   /** Expression that should == 0 */
   void addEqCnt(const AffExpr&);
   /** Expression that should <= 0 */
@@ -73,7 +84,10 @@ class ConvexConstraints
     assert(!inModel());
     model_ = model;
   }
-  bool inModel() { return model_ != nullptr; }
+  bool inModel()
+  {
+    return model_ != nullptr;
+  }
   void addConstraintsToModel();
   void removeFromModel();
 
@@ -87,8 +101,12 @@ class ConvexConstraints
 private:
   Model* model_;
   CntVector cnts_;
-  ConvexConstraints() : model_(nullptr) {}
-  ConvexConstraints(ConvexConstraints&) {}
+  ConvexConstraints() : model_(nullptr)
+  {
+  }
+  ConvexConstraints(ConvexConstraints&)
+  {
+  }
 };
 
 /**
@@ -104,10 +122,20 @@ class Cost
   virtual ConvexObjectivePtr convex(const DblVec& x, Model* model) = 0;
   /** Get problem variables associated with this cost */
   virtual VarVector getVars() = 0;
-  std::string name() { return name_; }
-  void setName(const std::string& name) { name_ = name; }
-  Cost() : name_("unnamed") {}
-  Cost(const std::string& name) : name_(name) {}
+  std::string name()
+  {
+    return name_;
+  }
+  void setName(const std::string& name)
+  {
+    name_ = name;
+  }
+  Cost() : name_("unnamed")
+  {
+  }
+  Cost(const std::string& name) : name_(name)
+  {
+  }
   virtual ~Cost() = default;
 
 protected:
@@ -134,11 +162,24 @@ class Constraint
   double violation(const DblVec& x);
   /** Get problem variables associated with this constraint */
   virtual VarVector getVars() = 0;
-  std::string name() { return name_; }
-  void setName(const std::string& name) { name_ = name; }
-  Constraint() : name_("unnamed") {}
-  Constraint(const std::string& name) : name_(name) {}
-  virtual ~Constraint() {}
+  std::string name()
+  {
+    return name_;
+  }
+  void setName(const std::string& name)
+  {
+    name_ = name;
+  }
+  Constraint() : name_("unnamed")
+  {
+  }
+  Constraint(const std::string& name) : name_(name)
+  {
+  }
+  virtual ~Constraint()
+  {
+  }
+
 protected:
   std::string name_;
 };
@@ -146,17 +187,31 @@ class Constraint
 class EqConstraint : public Constraint
 {
 public:
-  ConstraintType type() override { return EQ; }
-  EqConstraint() : Constraint() {}
-  EqConstraint(const std::string& name) : Constraint(name) {}
+  ConstraintType type() override
+  {
+    return EQ;
+  }
+  EqConstraint() : Constraint()
+  {
+  }
+  EqConstraint(const std::string& name) : Constraint(name)
+  {
+  }
 };
 
 class IneqConstraint : public Constraint
 {
 public:
-  ConstraintType type() override { return INEQ; }
-  IneqConstraint() : Constraint() {}
-  IneqConstraint(const std::string& name) : Constraint(name) {}
+  ConstraintType type() override
+  {
+    return INEQ;
+  }
+  IneqConstraint() : Constraint()
+  {
+  }
+  IneqConstraint(const std::string& name) : Constraint(name)
+  {
+  }
 };
 
 /**
@@ -197,16 +252,47 @@ class OptProb
   DblVec getClosestFeasiblePoint(const DblVec& x);
 
   std::vector<ConstraintPtr> getConstraints() const;
-  const std::vector<CostPtr>& getCosts() { return costs_; }
-  const std::vector<ConstraintPtr>& getIneqConstraints() { return ineqcnts_; }
-  const std::vector<ConstraintPtr>& getEqConstraints() { return eqcnts_; }
-  const DblVec& getLowerBounds() { return lower_bounds_; }
-  const DblVec& getUpperBounds() { return upper_bounds_; }
-  ModelPtr getModel() { return model_; }
-  const VarVector& getVars() { return vars_; }
-  int getNumCosts() { return static_cast<int>(costs_.size()); }
-  int getNumConstraints() { return static_cast<int>(eqcnts_.size() + ineqcnts_.size()); }
-  int getNumVars() { return static_cast<int>(vars_.size()); }
+  const std::vector<CostPtr>& getCosts()
+  {
+    return costs_;
+  }
+  const std::vector<ConstraintPtr>& getIneqConstraints()
+  {
+    return ineqcnts_;
+  }
+  const std::vector<ConstraintPtr>& getEqConstraints()
+  {
+    return eqcnts_;
+  }
+  const DblVec& getLowerBounds()
+  {
+    return lower_bounds_;
+  }
+  const DblVec& getUpperBounds()
+  {
+    return upper_bounds_;
+  }
+  ModelPtr getModel()
+  {
+    return model_;
+  }
+  const VarVector& getVars()
+  {
+    return vars_;
+  }
+  int getNumCosts()
+  {
+    return static_cast<int>(costs_.size());
+  }
+  int getNumConstraints()
+  {
+    return static_cast<int>(eqcnts_.size() + ineqcnts_.size());
+  }
+  int getNumVars()
+  {
+    return static_cast<int>(vars_.size());
+  }
+
 protected:
   ModelPtr model_;
   VarVector vars_;
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
index 32e5580629..c8f19e5b69 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/modeling_utils.hpp
@@ -38,7 +38,11 @@ class CostFromFunc : public Cost
   CostFromFunc(ScalarOfVectorPtr f, const VarVector& vars, const std::string& name, bool full_hessian = false);
   double value(const DblVec& x) override;
   ConvexObjectivePtr convex(const DblVec& x, Model* model) override;
-  VarVector getVars() override { return vars_; }
+  VarVector getVars() override
+  {
+    return vars_;
+  }
+
 protected:
   ScalarOfVectorPtr f_;
   VarVector vars_;
@@ -50,21 +54,18 @@ class CostFromErrFunc : public Cost
 {
 public:
   /// supply error function, obtain derivative numerically
-  CostFromErrFunc(VectorOfVectorPtr f,
-                  const VarVector& vars,
-                  const Eigen::VectorXd& coeffs,
-                  PenaltyType pen_type,
+  CostFromErrFunc(VectorOfVectorPtr f, const VarVector& vars, const Eigen::VectorXd& coeffs, PenaltyType pen_type,
                   const std::string& name);
   /// supply error function and gradient
-  CostFromErrFunc(VectorOfVectorPtr f,
-                  MatrixOfVectorPtr dfdx,
-                  const VarVector& vars,
-                  const Eigen::VectorXd& coeffs,
-                  PenaltyType pen_type,
-                  const std::string& name);
+  CostFromErrFunc(VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector& vars, const Eigen::VectorXd& coeffs,
+                  PenaltyType pen_type, const std::string& name);
   double value(const DblVec& x) override;
   ConvexObjectivePtr convex(const DblVec& x, Model* model) override;
-  VarVector getVars() override { return vars_; }
+  VarVector getVars() override
+  {
+    return vars_;
+  }
+
 protected:
   VectorOfVectorPtr f_;
   MatrixOfVectorPtr dfdx_;
@@ -78,22 +79,22 @@ class ConstraintFromErrFunc : public Constraint
 {
 public:
   /// supply error function, obtain derivative numerically
-  ConstraintFromErrFunc(VectorOfVectorPtr f,
-                        const VarVector& vars,
-                        const Eigen::VectorXd& coeffs,
-                        ConstraintType type,
+  ConstraintFromErrFunc(VectorOfVectorPtr f, const VarVector& vars, const Eigen::VectorXd& coeffs, ConstraintType type,
                         const std::string& name);
   /// supply error function and gradient
-  ConstraintFromErrFunc(VectorOfVectorPtr f,
-                        MatrixOfVectorPtr dfdx,
-                        const VarVector& vars,
-                        const Eigen::VectorXd& coeffs,
-                        ConstraintType type,
-                        const std::string& name);
+  ConstraintFromErrFunc(VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector& vars,
+                        const Eigen::VectorXd& coeffs, ConstraintType type, const std::string& name);
   DblVec value(const DblVec& x) override;
   ConvexConstraintsPtr convex(const DblVec& x, Model* model) override;
-  ConstraintType type() override { return type_; }
-  VarVector getVars() override { return vars_; }
+  ConstraintType type() override
+  {
+    return type_;
+  }
+  VarVector getVars() override
+  {
+    return vars_;
+  }
+
 protected:
   VectorOfVectorPtr f_;
   MatrixOfVectorPtr dfdx_;
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
index ddcfb07b19..388d30562f 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/num_diff.hpp
@@ -23,8 +23,13 @@ class ScalarOfVector
 {
 public:
   virtual double operator()(const Eigen::VectorXd& x) const = 0;
-  double call(const Eigen::VectorXd& x) const { return operator()(x); }
-  virtual ~ScalarOfVector() {}
+  double call(const Eigen::VectorXd& x) const
+  {
+    return operator()(x);
+  }
+  virtual ~ScalarOfVector()
+  {
+  }
   typedef std::function<double(Eigen::VectorXd)> func;
   static ScalarOfVectorPtr construct(const func&);
   //  typedef VectorXd (*c_func)(const VectorXd&);
@@ -34,8 +39,13 @@ class VectorOfVector
 {
 public:
   virtual Eigen::VectorXd operator()(const Eigen::VectorXd& x) const = 0;
-  Eigen::VectorXd call(const Eigen::VectorXd& x) const { return operator()(x); }
-  virtual ~VectorOfVector() {}
+  Eigen::VectorXd call(const Eigen::VectorXd& x) const
+  {
+    return operator()(x);
+  }
+  virtual ~VectorOfVector()
+  {
+  }
   typedef std::function<Eigen::VectorXd(Eigen::VectorXd)> func;
   static VectorOfVectorPtr construct(const func&);
   //  typedef VectorXd (*c_func)(const VectorXd&);
@@ -45,8 +55,13 @@ class MatrixOfVector
 {
 public:
   virtual Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const = 0;
-  Eigen::MatrixXd call(const Eigen::VectorXd& x) const { return operator()(x); }
-  virtual ~MatrixOfVector() {}
+  Eigen::MatrixXd call(const Eigen::VectorXd& x) const
+  {
+    return operator()(x);
+  }
+  virtual ~MatrixOfVector()
+  {
+  }
   typedef std::function<Eigen::MatrixXd(Eigen::VectorXd)> func;
   static MatrixOfVectorPtr construct(const func&);
   //  typedef VectorMatrixXd (*c_func)(const VectorXd&);
@@ -55,17 +70,9 @@ class MatrixOfVector
 
 Eigen::VectorXd calcForwardNumGrad(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon);
 Eigen::MatrixXd calcForwardNumJac(const VectorOfVector& f, const Eigen::VectorXd& x, double epsilon);
-void calcGradAndDiagHess(const ScalarOfVector& f,
-                         const Eigen::VectorXd& x,
-                         double epsilon,
-                         double& y,
-                         Eigen::VectorXd& grad,
-                         Eigen::VectorXd& hess);
-void calcGradHess(ScalarOfVectorPtr f,
-                  const Eigen::VectorXd& x,
-                  double epsilon,
-                  double& y,
-                  Eigen::VectorXd& grad,
+void calcGradAndDiagHess(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon, double& y,
+                         Eigen::VectorXd& grad, Eigen::VectorXd& hess);
+void calcGradHess(ScalarOfVectorPtr f, const Eigen::VectorXd& x, double epsilon, double& y, Eigen::VectorXd& grad,
                   Eigen::MatrixXd& hess);
 VectorOfVectorPtr forwardNumGrad(ScalarOfVectorPtr f, double epsilon);
 MatrixOfVectorPtr forwardNumJac(VectorOfVectorPtr f, double epsilon);
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
index 7aed5bb507..6d4d9a3915 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/optimizers.hpp
@@ -20,12 +20,12 @@ enum OptStatus
   OPT_FAILED,
   INVALID
 };
-static const char* OptStatus_strings[] = { "CONVERGED",
-                                           "SCO_ITERATION_LIMIT",
-                                           "PENALTY_ITERATION_LIMIT",
-                                           "FAILED",
+static const char* OptStatus_strings[] = { "CONVERGED", "SCO_ITERATION_LIMIT", "PENALTY_ITERATION_LIMIT", "FAILED",
                                            "INVALID" };
-inline std::string statusToString(OptStatus status) { return OptStatus_strings[status]; }
+inline std::string statusToString(OptStatus status)
+{
+  return OptStatus_strings[status];
+}
 struct OptResults
 {
   DblVec x;  // solution estimate
@@ -43,7 +43,10 @@ struct OptResults
     n_func_evals = 0;
     n_qp_solves = 0;
   }
-  OptResults() { clear(); }
+  OptResults()
+  {
+    clear();
+  }
 };
 std::ostream& operator<<(std::ostream& o, const OptResults& r);
 
@@ -55,10 +58,19 @@ class Optimizer
 public:
   virtual ~Optimizer() = default;
   virtual OptStatus optimize() = 0;
-  virtual void setProblem(OptProbPtr prob) { prob_ = prob; }
+  virtual void setProblem(OptProbPtr prob)
+  {
+    prob_ = prob;
+  }
   void initialize(const DblVec& x);
-  DblVec& x() { return results_.x; }
-  OptResults& results() { return results_; }
+  DblVec& x()
+  {
+    return results_.x;
+  }
+  OptResults& results()
+  {
+    return results_;
+  }
   typedef std::function<void(OptProb*, OptResults&)> Callback;
   void addCallback(const Callback& f);  // called before each iteration
 protected:
@@ -114,9 +126,18 @@ class BasicTrustRegionSQP : public Optimizer
   BasicTrustRegionSQP();
   BasicTrustRegionSQP(OptProbPtr prob);
   void setProblem(OptProbPtr prob) override;
-  void setParameters(const BasicTrustRegionSQPParameters& param) { param_ = param; }
-  const BasicTrustRegionSQPParameters& getParameters() const { return param_; }
-  BasicTrustRegionSQPParameters& getParameters() { return param_; }
+  void setParameters(const BasicTrustRegionSQPParameters& param)
+  {
+    param_ = param;
+  }
+  const BasicTrustRegionSQPParameters& getParameters() const
+  {
+    return param_;
+  }
+  BasicTrustRegionSQPParameters& getParameters()
+  {
+    return param_;
+  }
   OptStatus optimize() override;
 
 protected:
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
index 2233e9fec5..3769654ff7 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/sco_common.hpp
@@ -31,8 +31,14 @@ inline double vecAbsSum(const DblVec& v)
     out += fabs(v[i]);
   return out;
 }
-inline double pospart(double x) { return (x > 0) ? x : 0; }
-inline double sq(double x) { return x * x; }
+inline double pospart(double x)
+{
+  return (x > 0) ? x : 0;
+}
+inline double sq(double x)
+{
+  return x * x;
+}
 inline double vecHingeSum(const DblVec& v)
 {
   double out = 0;
@@ -40,7 +46,10 @@ inline double vecHingeSum(const DblVec& v)
     out += pospart(v[i]);
   return out;
 }
-inline double vecMax(const DblVec& v) { return *std::max_element(v.begin(), v.end()); }
+inline double vecMax(const DblVec& v)
+{
+  return *std::max_element(v.begin(), v.end());
+}
 inline double vecDot(const DblVec& a, const DblVec& b)
 {
   assert(a.size() == b.size());
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
index 8fb2dc7c08..6e7ae0b8cc 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_interface.hpp
@@ -72,7 +72,9 @@ class Model
 
   virtual VarVector getVars() const = 0;
 
-  virtual ~Model() {}
+  virtual ~Model()
+  {
+  }
 };
 
 struct VarRep
@@ -90,10 +92,19 @@ struct VarRep
 struct Var
 {
   VarRep* var_rep;
-  Var() : var_rep(nullptr) {}
-  Var(VarRep* var_rep) : var_rep(var_rep) {}
-  Var(const Var& other) : var_rep(other.var_rep) {}
-  double value(const double* x) const { return x[var_rep->index]; }
+  Var() : var_rep(nullptr)
+  {
+  }
+  Var(VarRep* var_rep) : var_rep(var_rep)
+  {
+  }
+  Var(const Var& other) : var_rep(other.var_rep)
+  {
+  }
+  double value(const double* x) const
+  {
+    return x[var_rep->index];
+  }
   double value(const DblVec& x) const
   {
     assert(var_rep->index < static_cast<int>(x.size()));
@@ -103,7 +114,9 @@ struct Var
 
 struct CntRep
 {
-  CntRep(int _index, void* _creator) : index(_index), removed(false), creator(_creator) {}
+  CntRep(int _index, void* _creator) : index(_index), removed(false), creator(_creator)
+  {
+  }
   int index;
   bool removed;
   void* creator;
@@ -114,9 +127,15 @@ struct CntRep
 struct Cnt
 {
   CntRep* cnt_rep;
-  Cnt() : cnt_rep(nullptr) {}
-  Cnt(CntRep* cnt_rep) : cnt_rep(cnt_rep) {}
-  Cnt(const Cnt& other) : cnt_rep(other.cnt_rep) {}
+  Cnt() : cnt_rep(nullptr)
+  {
+  }
+  Cnt(CntRep* cnt_rep) : cnt_rep(cnt_rep)
+  {
+  }
+  Cnt(const Cnt& other) : cnt_rep(other.cnt_rep)
+  {
+  }
 };
 
 struct AffExpr
@@ -124,11 +143,22 @@ struct AffExpr
   double constant;
   DblVec coeffs;
   VarVector vars;
-  AffExpr() : constant(0) {}
-  explicit AffExpr(double a) : constant(a) {}
-  explicit AffExpr(const Var& v) : constant(0), coeffs(1, 1), vars(1, v) {}
-  AffExpr(const AffExpr& other) : constant(other.constant), coeffs(other.coeffs), vars(other.vars) {}
-  size_t size() const { return coeffs.size(); }
+  AffExpr() : constant(0)
+  {
+  }
+  explicit AffExpr(double a) : constant(a)
+  {
+  }
+  explicit AffExpr(const Var& v) : constant(0), coeffs(1, 1), vars(1, v)
+  {
+  }
+  AffExpr(const AffExpr& other) : constant(other.constant), coeffs(other.coeffs), vars(other.vars)
+  {
+  }
+  size_t size() const
+  {
+    return coeffs.size();
+  }
   double value(const double* x) const;
   double value(const DblVec& x) const;
 };
@@ -139,11 +169,22 @@ struct QuadExpr
   DblVec coeffs;
   VarVector vars1;
   VarVector vars2;
-  QuadExpr() {}
-  explicit QuadExpr(double a) : affexpr(a) {}
-  explicit QuadExpr(const Var& v) : affexpr(v) {}
-  explicit QuadExpr(const AffExpr& aff) : affexpr(aff) {}
-  size_t size() const { return coeffs.size(); }
+  QuadExpr()
+  {
+  }
+  explicit QuadExpr(double a) : affexpr(a)
+  {
+  }
+  explicit QuadExpr(const Var& v) : affexpr(v)
+  {
+  }
+  explicit QuadExpr(const AffExpr& aff) : affexpr(aff)
+  {
+  }
+  size_t size() const
+  {
+    return coeffs.size();
+  }
   double value(const double* x) const;
   double value(const DblVec& x) const;
 };
diff --git a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
index 3edbcbdbba..42fcd3e34e 100644
--- a/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
+++ b/moveit_planners/trajopt/trajopt_sco/include/trajopt_sco/solver_utils.hpp
@@ -37,12 +37,8 @@ void exprToEigen(const AffExpr& expr, Eigen::SparseVector<double>& sparse_vector
  * @param [in] force_diagonal if true, we will forcibly add elements to the
  *                            diagonal of the sparse matrix, adding `0.` if needed
  */
-void exprToEigen(const QuadExpr& expr,
-                 Eigen::SparseMatrix<double>& sparse_matrix,
-                 Eigen::VectorXd& vector,
-                 const int& n_vars,
-                 const bool& matrix_is_halved = false,
-                 const bool& force_diagonal = false);
+void exprToEigen(const QuadExpr& expr, Eigen::SparseMatrix<double>& sparse_matrix, Eigen::VectorXd& vector,
+                 const int& n_vars, const bool& matrix_is_halved = false, const bool& force_diagonal = false);
 
 /**
  * @brief transform a vector of `AffExpr` to an `Eigen::SparseMatrix` plus an
@@ -61,9 +57,7 @@ void exprToEigen(const QuadExpr& expr,
  *                    It is usually the same for each `expr` in `expr_vec`,
  *                    and equal to `expr.size()`, but it might be larger.
  */
-void exprToEigen(const AffExprVector& expr_vec,
-                 Eigen::SparseMatrix<double>& sparse_matrix,
-                 Eigen::VectorXd& vector,
+void exprToEigen(const AffExprVector& expr_vec, Eigen::SparseMatrix<double>& sparse_matrix, Eigen::VectorXd& vector,
                  const int& n_vars = -1);
 /**
  * @brief Converts triplets to an `Eigen::SparseMatrix`.
@@ -75,9 +69,7 @@ void exprToEigen(const AffExprVector& expr_vec,
  *                               be guessing the right size of sparse_matrix from
  *                               a sparse triplet representation.
  */
-void tripletsToEigen(const IntVec& rows_i,
-                     const IntVec& cols_j,
-                     const DblVec& values_ij,
+void tripletsToEigen(const IntVec& rows_i, const IntVec& cols_j, const DblVec& values_ij,
                      Eigen::SparseMatrix<double>& sparse_matrix);
 
 /**
@@ -88,9 +80,7 @@ void tripletsToEigen(const IntVec& rows_i,
  * @param [out] values_ij a vector of values, so that:
  *                       `M[rows_i[k], cols_j[k]] = values_ij[k]`
  */
-void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
-                     IntVec& rows_i,
-                     IntVec& cols_j,
+void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix, IntVec& rows_i, IntVec& cols_j,
                      DblVec& values_ij);
 
 /**
@@ -103,10 +93,8 @@ void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
  * @param [in,out] sparse_matrix input matrix: will be compressed
  */
 template <int eigenUpLoType = 0, typename T>
-void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix,
-                std::vector<T>& row_indices,
-                std::vector<T>& column_pointers,
-                DblVec& values)
+void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix, std::vector<T>& row_indices,
+                std::vector<T>& column_pointers, DblVec& values)
 {
   Eigen::SparseMatrix<double> sm_t;
   auto sm_ref = std::ref(sparse_matrix);
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
index f61e82b66e..235f359b53 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_caller.cpp
@@ -10,28 +10,8 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt_utils/stl_to_string.hpp>
 
 extern "C" {
-extern void bpmpd(int*,
-                  int*,
-                  int*,
-                  int*,
-                  int*,
-                  int*,
-                  int*,
-                  double*,
-                  int*,
-                  int*,
-                  double*,
-                  double*,
-                  double*,
-                  double*,
-                  double*,
-                  double*,
-                  double*,
-                  int*,
-                  double*,
-                  int*,
-                  double*,
-                  int*);
+extern void bpmpd(int*, int*, int*, int*, int*, int*, int*, double*, int*, int*, double*, double*, double*, double*,
+                  double*, double*, double*, int*, double*, int*, double*, int*);
 }
 
 int main(int /*argc*/, char** /*argv*/)
@@ -74,28 +54,9 @@ int main(int /*argc*/, char** /*argv*/)
     DBG(bi.lbound);
     DBG(bi.ubound);
 
-    bpmpd(&bi.m,
-          &bi.n,
-          &bi.nz,
-          &bi.qn,
-          &bi.qnz,
-          bi.acolcnt.data(),
-          bi.acolidx.data(),
-          bi.acolnzs.data(),
-          bi.qcolcnt.data(),
-          bi.qcolidx.data(),
-          bi.qcolnzs.data(),
-          bi.rhs.data(),
-          bi.obj.data(),
-          bi.lbound.data(),
-          bi.ubound.data(),
-          bo.primal.data(),
-          bo.dual.data(),
-          bo.status.data(),
-          &BIG,
-          &bo.code,
-          &bo.opt,
-          &memsiz);
+    bpmpd(&bi.m, &bi.n, &bi.nz, &bi.qn, &bi.qnz, bi.acolcnt.data(), bi.acolidx.data(), bi.acolnzs.data(),
+          bi.qcolcnt.data(), bi.qcolidx.data(), bi.qcolnzs.data(), bi.rhs.data(), bi.obj.data(), bi.lbound.data(),
+          bi.ubound.data(), bo.primal.data(), bo.dual.data(), bo.status.data(), &BIG, &bo.code, &bo.opt, &memsiz);
 
     bpmpd_io::ser(STDOUT_FILENO, bo, bpmpd_io::SER);
   }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
index 82679c6982..b17bb6ff2f 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/bpmpd_interface.cpp
@@ -475,21 +475,8 @@ CvxOptStatus BPMPDModel::optimize()
 
 #else
 
-  bpmpd_io::bpmpd_input bi(static_cast<int>(m),
-                           static_cast<int>(n),
-                           nz,
-                           qn,
-                           qnz,
-                           acolcnt,
-                           acolidx,
-                           acolnzs,
-                           qcolcnt,
-                           qcolidx,
-                           qcolnzs,
-                           rhs,
-                           obj,
-                           lbound,
-                           ubound);
+  bpmpd_io::bpmpd_input bi(static_cast<int>(m), static_cast<int>(n), nz, qn, qnz, acolcnt, acolidx, acolnzs, qcolcnt,
+                           qcolidx, qcolnzs, rhs, obj, lbound, ubound);
   bpmpd_io::ser(gPipeIn, bi, bpmpd_io::SER);
 
   // std::cout << "serialization time:" << end-start << std::endl;
@@ -511,11 +498,20 @@ CvxOptStatus BPMPDModel::optimize()
 
   // exit(0);
 }
-void BPMPDModel::setObjective(const AffExpr& expr) { m_objective.affexpr = expr; }
-void BPMPDModel::setObjective(const QuadExpr& expr) { m_objective = expr; }
+void BPMPDModel::setObjective(const AffExpr& expr)
+{
+  m_objective.affexpr = expr;
+}
+void BPMPDModel::setObjective(const QuadExpr& expr)
+{
+  m_objective = expr;
+}
 void BPMPDModel::writeToFile(const std::string& /*fname*/)
 {
   // assert(0 && "NOT IMPLEMENTED");
 }
-VarVector BPMPDModel::getVars() const { return m_vars; }
+VarVector BPMPDModel::getVars() const
+{
+  return m_vars;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp b/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
index 5540a31bac..eeab09ba62 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/expr_ops.cpp
@@ -5,7 +5,10 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt_sco/expr_ops.hpp>
 
-static inline double sq(double x) { return x * x; }
+static inline double sq(double x)
+{
+  return x * x;
+}
 namespace sco
 {
 QuadExpr exprMult(const AffExpr& affexpr1, const AffExpr& affexpr2)
diff --git a/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
index 03bead3e97..c86dd714d0 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/gurobi_interface.cpp
@@ -83,8 +83,8 @@ GurobiModel::GurobiModel()
 
 Var GurobiModel::addVar(const std::string& name)
 {
-  ENSURE_SUCCESS(GRBaddvar(
-      m_model, 0, nullptr, nullptr, 0, -GRB_INFINITY, GRB_INFINITY, GRB_CONTINUOUS, const_cast<char*>(name.c_str())));
+  ENSURE_SUCCESS(GRBaddvar(m_model, 0, nullptr, nullptr, 0, -GRB_INFINITY, GRB_INFINITY, GRB_CONTINUOUS,
+                           const_cast<char*>(name.c_str())));
   m_vars.push_back(new VarRep(static_cast<int>(m_vars.size()), name, this));
   return m_vars.back();
 }
@@ -102,13 +102,8 @@ Cnt GurobiModel::addEqCnt(const AffExpr& expr, const std::string& name)
   IntVec inds = vars2inds(expr.vars);
   DblVec vals = expr.coeffs;
   simplify2(inds, vals);
-  ENSURE_SUCCESS(GRBaddconstr(m_model,
-                              inds.size(),
-                              const_cast<int*>(inds.data()),
-                              const_cast<double*>(vals.data()),
-                              GRB_EQUAL,
-                              -expr.constant,
-                              const_cast<char*>(name.c_str())));
+  ENSURE_SUCCESS(GRBaddconstr(m_model, inds.size(), const_cast<int*>(inds.data()), const_cast<double*>(vals.data()),
+                              GRB_EQUAL, -expr.constant, const_cast<char*>(name.c_str())));
   m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
   return m_cnts.back();
 }
@@ -118,8 +113,8 @@ Cnt GurobiModel::addIneqCnt(const AffExpr& expr, const std::string& name)
   IntVec inds = vars2inds(expr.vars);
   DblVec vals = expr.coeffs;
   simplify2(inds, vals);
-  ENSURE_SUCCESS(GRBaddconstr(
-      m_model, inds.size(), inds.data(), vals.data(), GRB_LESS_EQUAL, -expr.constant, const_cast<char*>(name.c_str())));
+  ENSURE_SUCCESS(GRBaddconstr(m_model, inds.size(), inds.data(), vals.data(), GRB_LESS_EQUAL, -expr.constant,
+                              const_cast<char*>(name.c_str())));
   m_cnts.push_back(new CntRep(static_cast<int>(m_cnts.size()), this));
   return m_cnts.back();
 }
@@ -130,16 +125,8 @@ Cnt GurobiModel::addIneqCnt(const QuadExpr& qexpr, const std::string& name)
   DblVec lvals = qexpr.affexpr.coeffs;
   IntVec inds1 = vars2inds(qexpr.vars1);
   IntVec inds2 = vars2inds(qexpr.vars2);
-  ENSURE_SUCCESS(GRBaddqconstr(m_model,
-                               numlnz,
-                               linds.data(),
-                               lvals.data(),
-                               qexpr.size(),
-                               inds1.data(),
-                               inds2.data(),
-                               const_cast<double*>(qexpr.coeffs.data()),
-                               GRB_LESS_EQUAL,
-                               -qexpr.affexpr.constant,
+  ENSURE_SUCCESS(GRBaddqconstr(m_model, numlnz, linds.data(), lvals.data(), qexpr.size(), inds1.data(), inds2.data(),
+                               const_cast<double*>(qexpr.coeffs.data()), GRB_LESS_EQUAL, -qexpr.affexpr.constant,
                                const_cast<char*>(name.c_str())));
   return Cnt();
 }
@@ -257,14 +244,14 @@ void GurobiModel::setObjective(const QuadExpr& quad_expr)
   setObjective(quad_expr.affexpr);
   IntVec inds1 = vars2inds(quad_expr.vars1);
   IntVec inds2 = vars2inds(quad_expr.vars2);
-  GRBaddqpterms(m_model,
-                quad_expr.coeffs.size(),
-                const_cast<int*>(inds1.data()),
-                const_cast<int*>(inds2.data()),
+  GRBaddqpterms(m_model, quad_expr.coeffs.size(), const_cast<int*>(inds1.data()), const_cast<int*>(inds2.data()),
                 const_cast<double*>(quad_expr.coeffs.data()));
 }
 
-void GurobiModel::writeToFile(const std::string& fname) { ENSURE_SUCCESS(GRBwrite(m_model, fname.c_str())); }
+void GurobiModel::writeToFile(const std::string& fname)
+{
+  ENSURE_SUCCESS(GRBwrite(m_model, fname.c_str()));
+}
 void GurobiModel::update()
 {
   ENSURE_SUCCESS(GRBupdatemodel(m_model));
@@ -301,6 +288,12 @@ void GurobiModel::update()
   }
 }
 
-VarVector GurobiModel::getVars() const { return m_vars; }
-GurobiModel::~GurobiModel() { ENSURE_SUCCESS(GRBfreemodel(m_model)); }
+VarVector GurobiModel::getVars() const
+{
+  return m_vars;
+}
+GurobiModel::~GurobiModel()
+{
+  ENSURE_SUCCESS(GRBfreemodel(m_model));
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
index 1487a74b9e..81a2140b5e 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling.cpp
@@ -14,8 +14,14 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 namespace sco
 {
-void ConvexObjective::addAffExpr(const AffExpr& affexpr) { exprInc(quad_, affexpr); }
-void ConvexObjective::addQuadExpr(const QuadExpr& quadexpr) { exprInc(quad_, quadexpr); }
+void ConvexObjective::addAffExpr(const AffExpr& affexpr)
+{
+  exprInc(quad_, affexpr);
+}
+void ConvexObjective::addQuadExpr(const QuadExpr& quadexpr)
+{
+  exprInc(quad_, quadexpr);
+}
 void ConvexObjective::addHinge(const AffExpr& affexpr, double coeff)
 {
   Var hinge = model_->addVar("hinge", 0, INFINITY);
@@ -98,8 +104,14 @@ ConvexObjective::~ConvexObjective()
     removeFromModel();
 }
 
-void ConvexConstraints::addEqCnt(const AffExpr& aff) { eqs_.push_back(aff); }
-void ConvexConstraints::addIneqCnt(const AffExpr& aff) { ineqs_.push_back(aff); }
+void ConvexConstraints::addEqCnt(const AffExpr& aff)
+{
+  eqs_.push_back(aff);
+}
+void ConvexConstraints::addIneqCnt(const AffExpr& aff)
+{
+  ineqs_.push_back(aff);
+}
 void ConvexConstraints::addConstraintsToModel()
 {
   cnts_.reserve(eqs_.size() + ineqs_.size());
@@ -129,14 +141,20 @@ DblVec ConvexConstraints::violations(const DblVec& x)
     out.push_back(pospart(aff.value(x.data())));
   return out;
 }
-double ConvexConstraints::violation(const DblVec& x) { return vecSum(violations(x)); }
+double ConvexConstraints::violation(const DblVec& x)
+{
+  return vecSum(violations(x));
+}
 ConvexConstraints::~ConvexConstraints()
 {
   if (inModel())
     removeFromModel();
 }
 
-double ConvexObjective::value(const DblVec& x) { return quad_.value(x); }
+double ConvexObjective::value(const DblVec& x)
+{
+  return quad_.value(x);
+}
 DblVec Constraint::violations(const DblVec& x)
 {
   DblVec val = value(x);
@@ -156,8 +174,13 @@ DblVec Constraint::violations(const DblVec& x)
   return out;
 }
 
-double Constraint::violation(const DblVec& x) { return vecSum(violations(x)); }
-OptProb::OptProb(ModelType convex_solver) : model_(createModel(convex_solver)) {}
+double Constraint::violation(const DblVec& x)
+{
+  return vecSum(violations(x));
+}
+OptProb::OptProb(ModelType convex_solver) : model_(createModel(convex_solver))
+{
+}
 VarVector OptProb::createVariables(const std::vector<std::string>& var_names)
 {
   return createVariables(var_names, DblVec(var_names.size(), -INFINITY), DblVec(var_names.size(), INFINITY));
@@ -193,9 +216,18 @@ void OptProb::setUpperBounds(const DblVec& ub)
   upper_bounds_ = ub;
 }
 
-void OptProb::setLowerBounds(const DblVec& lb, const VarVector& vars) { setVec(lower_bounds_, vars, lb); }
-void OptProb::setUpperBounds(const DblVec& ub, const VarVector& vars) { setVec(upper_bounds_, vars, ub); }
-void OptProb::addCost(CostPtr cost) { costs_.push_back(cost); }
+void OptProb::setLowerBounds(const DblVec& lb, const VarVector& vars)
+{
+  setVec(lower_bounds_, vars, lb);
+}
+void OptProb::setUpperBounds(const DblVec& ub, const VarVector& vars)
+{
+  setVec(upper_bounds_, vars, ub);
+}
+void OptProb::addCost(CostPtr cost)
+{
+  costs_.push_back(cost);
+}
 void OptProb::addConstraint(ConstraintPtr cnt)
 {
   if (cnt->type() == EQ)
diff --git a/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
index 79e49e7850..760677f0d3 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/modeling_utils.cpp
@@ -112,20 +112,13 @@ ConvexObjectivePtr CostFromFunc::convex(const DblVec& xin, Model* model)
   return out;
 }
 
-CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f,
-                                 const VarVector& vars,
-                                 const Eigen::VectorXd& coeffs,
-                                 PenaltyType pen_type,
-                                 const std::string& name)
+CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f, const VarVector& vars, const Eigen::VectorXd& coeffs,
+                                 PenaltyType pen_type, const std::string& name)
   : Cost(name), f_(f), vars_(vars), coeffs_(coeffs), pen_type_(pen_type), epsilon_(DEFAULT_EPSILON)
 {
 }
-CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f,
-                                 MatrixOfVectorPtr dfdx,
-                                 const VarVector& vars,
-                                 const Eigen::VectorXd& coeffs,
-                                 PenaltyType pen_type,
-                                 const std::string& name)
+CostFromErrFunc::CostFromErrFunc(VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector& vars,
+                                 const Eigen::VectorXd& coeffs, PenaltyType pen_type, const std::string& name)
   : Cost(name), f_(f), dfdx_(dfdx), vars_(vars), coeffs_(coeffs), pen_type_(pen_type), epsilon_(DEFAULT_EPSILON)
 {
 }
@@ -199,20 +192,14 @@ ConvexObjectivePtr CostFromErrFunc::convex(const DblVec& xin, Model* model)
   return out;
 }
 
-ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f,
-                                             const VarVector& vars,
-                                             const Eigen::VectorXd& coeffs,
-                                             ConstraintType type,
-                                             const std::string& name)
+ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f, const VarVector& vars, const Eigen::VectorXd& coeffs,
+                                             ConstraintType type, const std::string& name)
   : Constraint(name), f_(f), vars_(vars), coeffs_(coeffs), type_(type), epsilon_(DEFAULT_EPSILON)
 {
 }
 
-ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f,
-                                             MatrixOfVectorPtr dfdx,
-                                             const VarVector& vars,
-                                             const Eigen::VectorXd& coeffs,
-                                             ConstraintType type,
+ConstraintFromErrFunc::ConstraintFromErrFunc(VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector& vars,
+                                             const Eigen::VectorXd& coeffs, ConstraintType type,
                                              const std::string& name)
   : Constraint(name), f_(f), dfdx_(dfdx), vars_(vars), coeffs_(coeffs), type_(type), epsilon_(DEFAULT_EPSILON)
 {
diff --git a/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp b/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
index f7e459aa01..4277cf5035 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/num_diff.cpp
@@ -7,8 +7,13 @@ ScalarOfVectorPtr ScalarOfVector::construct(const func& f)
   struct F : public ScalarOfVector
   {
     func f;
-    F(const func& _f) : f(_f) {}
-    double operator()(const Eigen::VectorXd& x) const override { return f(x); }
+    F(const func& _f) : f(_f)
+    {
+    }
+    double operator()(const Eigen::VectorXd& x) const override
+    {
+      return f(x);
+    }
   };
   ScalarOfVector* sov = new F(f);  // to avoid erroneous clang warning
   return ScalarOfVectorPtr(sov);
@@ -18,8 +23,13 @@ VectorOfVectorPtr VectorOfVector::construct(const func& f)
   struct F : public VectorOfVector
   {
     func f;
-    F(const func& _f) : f(_f) {}
-    Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override { return f(x); }
+    F(const func& _f) : f(_f)
+    {
+    }
+    Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override
+    {
+      return f(x);
+    }
   };
   VectorOfVector* vov = new F(f);  // to avoid erroneous clang warning
   return VectorOfVectorPtr(vov);
@@ -54,12 +64,8 @@ Eigen::MatrixXd calcForwardNumJac(const VectorOfVector& f, const Eigen::VectorXd
   return out;
 }
 
-void calcGradAndDiagHess(const ScalarOfVector& f,
-                         const Eigen::VectorXd& x,
-                         double epsilon,
-                         double& y,
-                         Eigen::VectorXd& grad,
-                         Eigen::VectorXd& hess)
+void calcGradAndDiagHess(const ScalarOfVector& f, const Eigen::VectorXd& x, double epsilon, double& y,
+                         Eigen::VectorXd& grad, Eigen::VectorXd& hess)
 {
   y = f(x);
   grad.resize(x.size());
@@ -77,11 +83,7 @@ void calcGradAndDiagHess(const ScalarOfVector& f,
   }
 }
 
-void calcGradHess(ScalarOfVectorPtr f,
-                  const Eigen::VectorXd& x,
-                  double epsilon,
-                  double& y,
-                  Eigen::VectorXd& grad,
+void calcGradHess(ScalarOfVectorPtr f, const Eigen::VectorXd& x, double epsilon, double& y, Eigen::VectorXd& grad,
                   Eigen::MatrixXd& hess)
 {
   y = f->call(x);
@@ -95,16 +97,26 @@ struct ForwardNumGrad : public VectorOfVector
 {
   ScalarOfVectorPtr f_;
   double epsilon_;
-  ForwardNumGrad(ScalarOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon) {}
-  Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override { return calcForwardNumGrad(*f_, x, epsilon_); }
+  ForwardNumGrad(ScalarOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon)
+  {
+  }
+  Eigen::VectorXd operator()(const Eigen::VectorXd& x) const override
+  {
+    return calcForwardNumGrad(*f_, x, epsilon_);
+  }
 };
 
 struct ForwardNumJac : public MatrixOfVector
 {
   VectorOfVectorPtr f_;
   double epsilon_;
-  ForwardNumJac(VectorOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon) {}
-  Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const override { return calcForwardNumJac(*f_, x, epsilon_); }
+  ForwardNumJac(VectorOfVectorPtr f, double epsilon) : f_(f), epsilon_(epsilon)
+  {
+  }
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& x) const override
+  {
+    return calcForwardNumJac(*f_, x, epsilon_);
+  }
 };
 
 VectorOfVectorPtr forwardNumGrad(ScalarOfVectorPtr f, double epsilon)
diff --git a/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
index 483147ceb0..d541106c20 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/optimizers.cpp
@@ -58,8 +58,7 @@ static std::vector<ConvexObjectivePtr> convexifyCosts(const std::vector<CostPtr>
   }
   return out;
 }
-static std::vector<ConvexConstraintsPtr> convexifyConstraints(const std::vector<ConstraintPtr>& cnts,
-                                                              const DblVec& x,
+static std::vector<ConvexConstraintsPtr> convexifyConstraints(const std::vector<ConstraintPtr>& cnts, const DblVec& x,
                                                               Model* model)
 {
   std::vector<ConvexConstraintsPtr> out(cnts.size());
@@ -104,14 +103,9 @@ static std::vector<std::string> getCntNames(const std::vector<ConstraintPtr>& cn
   return out;
 }
 
-void printCostInfo(const DblVec& old_cost_vals,
-                   const DblVec& model_cost_vals,
-                   const DblVec& new_cost_vals,
-                   const DblVec& old_cnt_vals,
-                   const DblVec& model_cnt_vals,
-                   const DblVec& new_cnt_vals,
-                   const std::vector<std::string>& cost_names,
-                   const std::vector<std::string>& cnt_names,
+void printCostInfo(const DblVec& old_cost_vals, const DblVec& model_cost_vals, const DblVec& new_cost_vals,
+                   const DblVec& old_cnt_vals, const DblVec& model_cnt_vals, const DblVec& new_cnt_vals,
+                   const std::vector<std::string>& cost_names, const std::vector<std::string>& cnt_names,
                    double merit_coeff)
 {
   std::printf("%15s | %10s | %10s | %10s | %10s\n", "", "oldexact", "dapprox", "dexact", "ratio");
@@ -121,53 +115,31 @@ void printCostInfo(const DblVec& old_cost_vals,
     double approx_improve = old_cost_vals[i] - model_cost_vals[i];
     double exact_improve = old_cost_vals[i] - new_cost_vals[i];
     if (fabs(approx_improve) > 1e-8)
-      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
-                  cost_names[i].c_str(),
-                  old_cost_vals[i],
-                  approx_improve,
-                  exact_improve,
-                  exact_improve / approx_improve);
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n", cost_names[i].c_str(), old_cost_vals[i], approx_improve,
+                  exact_improve, exact_improve / approx_improve);
     else
-      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n",
-                  cost_names[i].c_str(),
-                  old_cost_vals[i],
-                  approx_improve,
-                  exact_improve,
-                  "  ------  ");
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n", cost_names[i].c_str(), old_cost_vals[i], approx_improve,
+                  exact_improve, "  ------  ");
   }
   if (cnt_names.size() == 0)
     return;
-  std::printf("%15s | %10s---%10s---%10s---%10s\n",
-              "CONSTRAINTS",
-              "----------",
-              "----------",
-              "----------",
-              "---------"
-              "-");
+  std::printf("%15s | %10s---%10s---%10s---%10s\n", "CONSTRAINTS", "----------", "----------", "----------", "---------"
+                                                                                                             "-");
   for (size_t i = 0; i < old_cnt_vals.size(); ++i)
   {
     double approx_improve = old_cnt_vals[i] - model_cnt_vals[i];
     double exact_improve = old_cnt_vals[i] - new_cnt_vals[i];
     if (fabs(approx_improve) > 1e-8)
-      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
-                  cnt_names[i].c_str(),
-                  merit_coeff * old_cnt_vals[i],
-                  merit_coeff * approx_improve,
-                  merit_coeff * exact_improve,
-                  exact_improve / approx_improve);
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n", cnt_names[i].c_str(), merit_coeff * old_cnt_vals[i],
+                  merit_coeff * approx_improve, merit_coeff * exact_improve, exact_improve / approx_improve);
     else
-      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n",
-                  cnt_names[i].c_str(),
-                  merit_coeff * old_cnt_vals[i],
-                  merit_coeff * approx_improve,
-                  merit_coeff * exact_improve,
-                  "  ------  ");
+      std::printf("%15s | %10.3e | %10.3e | %10.3e | %10s\n", cnt_names[i].c_str(), merit_coeff * old_cnt_vals[i],
+                  merit_coeff * approx_improve, merit_coeff * exact_improve, "  ------  ");
   }
 }
 
 // todo: use different coeffs for each constraint
-std::vector<ConvexObjectivePtr> cntsToCosts(const std::vector<ConvexConstraintsPtr>& cnts,
-                                            double err_coeff,
+std::vector<ConvexObjectivePtr> cntsToCosts(const std::vector<ConvexConstraintsPtr>& cnts, double err_coeff,
                                             Model* model)
 {
   std::vector<ConvexObjectivePtr> out;
@@ -187,7 +159,10 @@ std::vector<ConvexObjectivePtr> cntsToCosts(const std::vector<ConvexConstraintsP
   return out;
 }
 
-void Optimizer::addCallback(const Callback& cb) { callbacks_.push_back(cb); }
+void Optimizer::addCallback(const Callback& cb)
+{
+  callbacks_.push_back(cb);
+}
 void Optimizer::callCallbacks()
 {
   for (unsigned i = 0; i < callbacks_.size(); ++i)
@@ -224,15 +199,23 @@ BasicTrustRegionSQPParameters::BasicTrustRegionSQPParameters()
   trust_box_size = 1e-1;
 }
 
-BasicTrustRegionSQP::BasicTrustRegionSQP() {}
-BasicTrustRegionSQP::BasicTrustRegionSQP(OptProbPtr prob) { setProblem(prob); }
+BasicTrustRegionSQP::BasicTrustRegionSQP()
+{
+}
+BasicTrustRegionSQP::BasicTrustRegionSQP(OptProbPtr prob)
+{
+  setProblem(prob);
+}
 void BasicTrustRegionSQP::setProblem(OptProbPtr prob)
 {
   Optimizer::setProblem(prob);
   model_ = prob->getModel();
 }
 
-void BasicTrustRegionSQP::adjustTrustRegion(double ratio) { param_.trust_box_size *= ratio; }
+void BasicTrustRegionSQP::adjustTrustRegion(double ratio)
+{
+  param_.trust_box_size *= ratio;
+}
 void BasicTrustRegionSQP::setTrustBoxConstraints(const DblVec& x)
 {
   const VarVector& vars = prob_->getVars();
@@ -394,21 +377,10 @@ OptStatus BasicTrustRegionSQP::optimize()
         if (util::GetLogLevel() >= util::LevelInfo)
         {
           LOG_INFO(" ");
-          printCostInfo(results_.cost_vals,
-                        model_cost_vals,
-                        new_cost_vals,
-                        results_.cnt_viols,
-                        model_cnt_viols,
-                        new_cnt_viols,
-                        cost_names,
-                        cnt_names,
-                        param_.merit_error_coeff);
-          std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n",
-                      "TOTAL",
-                      old_merit,
-                      approx_merit_improve,
-                      exact_merit_improve,
-                      merit_improve_ratio);
+          printCostInfo(results_.cost_vals, model_cost_vals, new_cost_vals, results_.cnt_viols, model_cnt_viols,
+                        new_cnt_viols, cost_names, cnt_names, param_.merit_error_coeff);
+          std::printf("%15s | %10.3e | %10.3e | %10.3e | %10.3e\n", "TOTAL", old_merit, approx_merit_improve,
+                      exact_merit_improve, merit_improve_ratio);
         }
 
         if (approx_merit_improve < -1e-5)
@@ -419,15 +391,14 @@ OptStatus BasicTrustRegionSQP::optimize()
         }
         if (approx_merit_improve < param_.min_approx_improve)
         {
-          LOG_INFO(
-              "converged because improvement was small (%.3e < %.3e)", approx_merit_improve, param_.min_approx_improve);
+          LOG_INFO("converged because improvement was small (%.3e < %.3e)", approx_merit_improve,
+                   param_.min_approx_improve);
           retval = OPT_CONVERGED;
           goto penaltyadjustment;
         }
         if (approx_merit_improve / old_merit < param_.min_approx_improve_frac)
         {
-          LOG_INFO("converged because improvement ratio was small (%.3e < %.3e)",
-                   approx_merit_improve / old_merit,
+          LOG_INFO("converged because improvement ratio was small (%.3e < %.3e)", approx_merit_improve / old_merit,
                    param_.min_approx_improve_frac);
           retval = OPT_CONVERGED;
           goto penaltyadjustment;
diff --git a/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
index bd1a18c8c3..a3dffa4c7b 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/osqp_interface.cpp
@@ -106,11 +106,7 @@ void OSQPModel::updateObjective()
 
   if (osqp_data_.P != nullptr)
     c_free(osqp_data_.P);
-  osqp_data_.P = csc_matrix(osqp_data_.n,
-                            osqp_data_.n,
-                            P_csc_data_.size(),
-                            P_csc_data_.data(),
-                            P_row_indices_.data(),
+  osqp_data_.P = csc_matrix(osqp_data_.n, osqp_data_.n, P_csc_data_.size(), P_csc_data_.data(), P_row_indices_.data(),
                             P_column_pointers_.data());
 
   osqp_data_.q = q_.data();
@@ -151,11 +147,7 @@ void OSQPModel::updateConstraints()
 
   if (osqp_data_.A != nullptr)
     c_free(osqp_data_.A);
-  osqp_data_.A = csc_matrix(osqp_data_.m,
-                            osqp_data_.n,
-                            A_csc_data_.size(),
-                            A_csc_data_.data(),
-                            A_row_indices_.data(),
+  osqp_data_.A = csc_matrix(osqp_data_.m, osqp_data_.n, A_csc_data_.size(), A_csc_data_.data(), A_row_indices_.data(),
                             A_column_pointers_.data());
 
   osqp_data_.l = l_.data();
@@ -260,11 +252,20 @@ CvxOptStatus OSQPModel::optimize()
   }
   return CVX_FAILED;
 }
-void OSQPModel::setObjective(const AffExpr& expr) { objective_.affexpr = expr; }
-void OSQPModel::setObjective(const QuadExpr& expr) { objective_ = expr; }
+void OSQPModel::setObjective(const AffExpr& expr)
+{
+  objective_.affexpr = expr;
+}
+void OSQPModel::setObjective(const QuadExpr& expr)
+{
+  objective_ = expr;
+}
 void OSQPModel::writeToFile(const std::string& /*fname*/)
 {
   return;  // NOT IMPLEMENTED
 }
-VarVector OSQPModel::getVars() const { return vars_; }
+VarVector OSQPModel::getVars() const
+{
+  return vars_;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
index 2316f95d52..d3140cf0ee 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/qpoases_interface.cpp
@@ -35,7 +35,9 @@ qpOASESModel::qpOASESModel()
   qpoases_options_.ensureConsistency();
 }
 
-qpOASESModel::~qpOASESModel() {}
+qpOASESModel::~qpOASESModel()
+{
+}
 Var qpOASESModel::addVar(const std::string& name)
 {
   vars_.push_back(new VarRep(vars_.size(), name, this));
@@ -211,8 +213,8 @@ CvxOptStatus qpOASESModel::optimize()
   int nWSR = 255;
   if (qpoases_problem_->isInitialised())
   {
-    val = qpoases_problem_->hotstart(
-        &H_, g_.data(), &A_, lb_.data(), ub_.data(), lbA_.data(), ubA_.data(), nWSR, nullptr);
+    val = qpoases_problem_->hotstart(&H_, g_.data(), &A_, lb_.data(), ub_.data(), lbA_.data(), ubA_.data(), nWSR,
+                                     nullptr);
   }
 
   if (val != qpOASES::SUCCESSFUL_RETURN)
@@ -241,11 +243,20 @@ CvxOptStatus qpOASESModel::optimize()
     return CVX_FAILED;
   }
 }
-void qpOASESModel::setObjective(const AffExpr& expr) { objective_.affexpr = expr; }
-void qpOASESModel::setObjective(const QuadExpr& expr) { objective_ = expr; }
+void qpOASESModel::setObjective(const AffExpr& expr)
+{
+  objective_.affexpr = expr;
+}
+void qpOASESModel::setObjective(const QuadExpr& expr)
+{
+  objective_ = expr;
+}
 void qpOASESModel::writeToFile(const std::string& /*fname*/)
 {
   return;  // NOT IMPLEMENTED
 }
-VarVector qpOASESModel::getVars() const { return vars_; }
+VarVector qpOASESModel::getVars() const
+{
+  return vars_;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp b/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
index 3da51d8af5..0162da16bf 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/solver_interface.cpp
@@ -164,9 +164,18 @@ std::ostream& operator<<(std::ostream& o, const ModelType& cs)
   return o;
 }
 
-ModelType::ModelType() { value_ = ModelType::AUTO_SOLVER; }
-ModelType::ModelType(const ModelType::Value& v) { value_ = v; }
-ModelType::ModelType(const int& v) { value_ = static_cast<Value>(v); }
+ModelType::ModelType()
+{
+  value_ = ModelType::AUTO_SOLVER;
+}
+ModelType::ModelType(const ModelType::Value& v)
+{
+  value_ = v;
+}
+ModelType::ModelType(const int& v)
+{
+  value_ = static_cast<Value>(v);
+}
 ModelType::ModelType(const std::string& s)
 {
   for (unsigned int i = 0; i < ModelType::MODEL_NAMES_.size(); ++i)
@@ -180,10 +189,22 @@ ModelType::ModelType(const std::string& s)
   PRINT_AND_THROW(boost::format("invalid solver name:\"%s\"") % s);
 }
 
-ModelType::operator int() const { return static_cast<int>(value_); }
-bool ModelType::operator==(const ModelType::Value& a) const { return value_ == a; }
-bool ModelType::operator==(const ModelType& a) const { return value_ == a.value_; }
-bool ModelType::operator!=(const ModelType& a) const { return value_ != a.value_; }
+ModelType::operator int() const
+{
+  return static_cast<int>(value_);
+}
+bool ModelType::operator==(const ModelType::Value& a) const
+{
+  return value_ == a;
+}
+bool ModelType::operator==(const ModelType& a) const
+{
+  return value_ == a.value_;
+}
+bool ModelType::operator!=(const ModelType& a) const
+{
+  return value_ != a.value_;
+}
 void ModelType::fromJson(const Json::Value& v)
 {
   try
diff --git a/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp b/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
index 811c80a9ff..4fbdea121a 100644
--- a/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/src/solver_utils.cpp
@@ -28,12 +28,8 @@ void exprToEigen(const AffExpr& expr, Eigen::SparseVector<double>& sparse_vector
   }
 }
 
-void exprToEigen(const QuadExpr& expr,
-                 Eigen::SparseMatrix<double>& sparse_matrix,
-                 Eigen::VectorXd& vector,
-                 const int& n_vars,
-                 const bool& matrix_is_halved,
-                 const bool& force_diagonal)
+void exprToEigen(const QuadExpr& expr, Eigen::SparseMatrix<double>& sparse_matrix, Eigen::VectorXd& vector,
+                 const int& n_vars, const bool& matrix_is_halved, const bool& force_diagonal)
 {
   IntVec ind1 = vars2inds(expr.vars1);
   IntVec ind2 = vars2inds(expr.vars2);
@@ -79,9 +75,7 @@ void exprToEigen(const QuadExpr& expr,
       sparse_matrix.coeffRef(k, k) += 0.0;
 }
 
-void exprToEigen(const AffExprVector& expr_vec,
-                 Eigen::SparseMatrix<double>& sparse_matrix,
-                 Eigen::VectorXd& vector,
+void exprToEigen(const AffExprVector& expr_vec, Eigen::SparseMatrix<double>& sparse_matrix, Eigen::VectorXd& vector,
                  const int& n_vars)
 {
   vector.resize(static_cast<long int>(expr_vec.size()));
@@ -100,9 +94,7 @@ void exprToEigen(const AffExprVector& expr_vec,
   }
 }
 
-void tripletsToEigen(const IntVec& rows_i,
-                     const IntVec& cols_j,
-                     const DblVec& values_ij,
+void tripletsToEigen(const IntVec& rows_i, const IntVec& cols_j, const DblVec& values_ij,
                      Eigen::SparseMatrix<double>& sparse_matrix)
 {
   typedef Eigen::Triplet<double> T;
@@ -112,9 +104,7 @@ void tripletsToEigen(const IntVec& rows_i,
   sparse_matrix.setFromTriplets(triplets.begin(), triplets.end());
 }
 
-void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix,
-                     IntVec& rows_i,
-                     IntVec& cols_j,
+void eigenToTriplets(const Eigen::SparseMatrix<double>& sparse_matrix, IntVec& rows_i, IntVec& cols_j,
                      DblVec& values_ij)
 {
   auto& sm = sparse_matrix;
diff --git a/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
index 09a4895ec7..7e7356a99e 100644
--- a/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/test/small-problems-unit.cpp
@@ -24,7 +24,9 @@ using namespace Eigen;
 class SQP : public testing::TestWithParam<ModelType>
 {
 protected:
-  SQP() {}
+  SQP()
+  {
+  }
 };
 
 void setupProblem(OptProbPtr& probptr, size_t nvars, ModelType convex_solver)
@@ -47,7 +49,10 @@ void expectAllNear(const DblVec& x, const DblVec& y, double abstol)
     EXPECT_NEAR(x[i], y[i], abstol);
 }
 
-double f_QuadraticSeparable(const VectorXd& x) { return x(0) * x(0) + sq(x(1) - 1) + sq(x(2) - 2); }
+double f_QuadraticSeparable(const VectorXd& x)
+{
+  return x(0) * x(0) + sq(x(1) - 1) + sq(x(2) - 2);
+}
 TEST_P(SQP, QuadraticSeparable)
 {
   // if the problem is exactly a QP, it should be solved in one iteration
@@ -64,7 +69,10 @@ TEST_P(SQP, QuadraticSeparable)
   expectAllNear(solver.x(), { 0, 1, 2 }, 1e-3);
   // todo: checks on number of iterations and function evaluates
 }
-double f_QuadraticNonseparable(const VectorXd& x) { return sq(x(0) - x(1) + 3 * x(2)) + sq(x(0) - 1) + sq(x(2) - 2); }
+double f_QuadraticNonseparable(const VectorXd& x)
+{
+  return sq(x(0) - x(1) + 3 * x(2)) + sq(x(0) - 1) + sq(x(2) - 2);
+}
 TEST_P(SQP, QuadraticNonseparable)
 {
   OptProbPtr prob;
@@ -84,12 +92,8 @@ TEST_P(SQP, QuadraticNonseparable)
   // todo: checks on number of iterations and function evaluates
 }
 
-void testProblem(ScalarOfVectorPtr f,
-                 VectorOfVectorPtr g,
-                 ConstraintType cnt_type,
-                 const DblVec& init,
-                 const DblVec& sol,
-                 ModelType convex_solver)
+void testProblem(ScalarOfVectorPtr f, VectorOfVectorPtr g, ConstraintType cnt_type, const DblVec& init,
+                 const DblVec& sol, ModelType convex_solver)
 {
   OptProbPtr prob;
   size_t n = init.size();
@@ -111,35 +115,50 @@ void testProblem(ScalarOfVectorPtr f,
 }
 // http://www.ai7.uni-bayreuth.de/test_problem_coll.pdf
 
-double f_TP1(const VectorXd& x) { return 1 * sq(x(1) - sq(x(0))) + sq(1 - x(0)); }
+double f_TP1(const VectorXd& x)
+{
+  return 1 * sq(x(1) - sq(x(0))) + sq(1 - x(0));
+}
 VectorXd g_TP1(const VectorXd& x)
 {
   VectorXd out(1);
   out(0) = -1.5 - x(1);
   return out;
 }
-double f_TP2(const VectorXd& x) { return 100 * sq(x(1) - sq(x(0))) + sq(1 - x(0)); }
+double f_TP2(const VectorXd& x)
+{
+  return 100 * sq(x(1) - sq(x(0))) + sq(1 - x(0));
+}
 VectorXd g_TP2(const VectorXd& x)
 {
   VectorXd out(1);
   out(0) = -1.5 - x(1);
   return out;
 }
-double f_TP3(const VectorXd& x) { return (x(1) + 1e-5 * sq(x(1) - x(0))); }
+double f_TP3(const VectorXd& x)
+{
+  return (x(1) + 1e-5 * sq(x(1) - x(0)));
+}
 VectorXd g_TP3(const VectorXd& x)
 {
   VectorXd out(1);
   out(0) = 0 - x(1);
   return out;
 }
-double f_TP6(const VectorXd& x) { return sq(1 - x(0)); }
+double f_TP6(const VectorXd& x)
+{
+  return sq(1 - x(0));
+}
 VectorXd g_TP6(const VectorXd& x)
 {
   VectorXd out(1);
   out(0) = 10 * (x(1) - sq(x(0)));
   return out;
 }
-double f_TP7(const VectorXd& x) { return log(1 + sq(x(0))) - x(1); }
+double f_TP7(const VectorXd& x)
+{
+  return log(1 + sq(x(0))) - x(1);
+}
 VectorXd g_TP7(const VectorXd& x)
 {
   VectorXd out(1);
@@ -149,26 +168,22 @@ VectorXd g_TP7(const VectorXd& x)
 
 TEST_P(SQP, TP1)
 {
-  testProblem(
-      ScalarOfVector::construct(&f_TP1), VectorOfVector::construct(&g_TP1), INEQ, { -2, 1 }, { 1, 1 }, GetParam());
+  testProblem(ScalarOfVector::construct(&f_TP1), VectorOfVector::construct(&g_TP1), INEQ, { -2, 1 }, { 1, 1 },
+              GetParam());
 }
 TEST_P(SQP, TP3)
 {
-  testProblem(
-      ScalarOfVector::construct(&f_TP3), VectorOfVector::construct(&g_TP3), INEQ, { 10, 1 }, { 0, 0 }, GetParam());
+  testProblem(ScalarOfVector::construct(&f_TP3), VectorOfVector::construct(&g_TP3), INEQ, { 10, 1 }, { 0, 0 },
+              GetParam());
 }
 TEST_P(SQP, TP6)
 {
-  testProblem(
-      ScalarOfVector::construct(&f_TP6), VectorOfVector::construct(&g_TP6), EQ, { 10, 1 }, { 1, 1 }, GetParam());
+  testProblem(ScalarOfVector::construct(&f_TP6), VectorOfVector::construct(&g_TP6), EQ, { 10, 1 }, { 1, 1 },
+              GetParam());
 }
 TEST_P(SQP, TP7)
 {
-  testProblem(ScalarOfVector::construct(&f_TP7),
-              VectorOfVector::construct(&g_TP7),
-              EQ,
-              { 2, 2 },
-              { 0., sqrtf(3.) },
+  testProblem(ScalarOfVector::construct(&f_TP7), VectorOfVector::construct(&g_TP7), EQ, { 2, 2 }, { 0., sqrtf(3.) },
               GetParam());
 }
 
diff --git a/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp b/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
index b9d0d5ae6a..6f118b1e3c 100644
--- a/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
+++ b/moveit_planners/trajopt/trajopt_sco/test/solver-interface-unit.cpp
@@ -20,7 +20,9 @@ using namespace sco;
 class SolverInterface : public testing::TestWithParam<ModelType>
 {
 protected:
-  SolverInterface() {}
+  SolverInterface()
+  {
+  }
 };
 
 TEST(SolverInterface, simplify2)
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
index a64c7ee0b5..e9e6413e62 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/basic_array.hpp
@@ -13,10 +13,19 @@ struct BasicArray
   int m_nCol;
   std::vector<T> m_data;
 
-  BasicArray() : m_nRow(0), m_nCol(0) {}
-  BasicArray(int nRow, int nCol) : m_nRow(nRow), m_nCol(nCol) { m_data.resize(m_nRow * m_nCol); }
-  BasicArray(int nRow, int nCol, const T* data) : m_nRow(nRow), m_nCol(nCol), m_data(data, data + nRow * nCol) {}
-  BasicArray(const BasicArray& x) : m_nRow(x.m_nRow), m_nCol(x.m_nCol), m_data(x.m_data) {}
+  BasicArray() : m_nRow(0), m_nCol(0)
+  {
+  }
+  BasicArray(int nRow, int nCol) : m_nRow(nRow), m_nCol(nCol)
+  {
+    m_data.resize(m_nRow * m_nCol);
+  }
+  BasicArray(int nRow, int nCol, const T* data) : m_nRow(nRow), m_nCol(nCol), m_data(data, data + nRow * nCol)
+  {
+  }
+  BasicArray(const BasicArray& x) : m_nRow(x.m_nRow), m_nCol(x.m_nCol), m_data(x.m_data)
+  {
+  }
   void resize(int nRow, int nCol)
   {
     m_nRow = nRow;
@@ -24,9 +33,18 @@ struct BasicArray
     m_data.resize(static_cast<size_t>(m_nRow * m_nCol));
   }
 
-  int rows() const { return m_nRow; }
-  int cols() const { return m_nCol; }
-  int size() const { return m_data.size(); }
+  int rows() const
+  {
+    return m_nRow;
+  }
+  int cols() const
+  {
+    return m_nCol;
+  }
+  int size() const
+  {
+    return m_data.size();
+  }
   BasicArray block(int startRow, int startCol, int nRow, int nCol) const
   {
     BasicArray out;
@@ -71,12 +89,30 @@ struct BasicArray
     }
     return out;
   }
-  BasicArray topRows(int n) { return middleRows(0, n); }
-  BasicArray bottomRows(int n) { return middleRows(m_nRow - n, n); }
-  const T& at(int row, int col) const { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
-  T& at(int row, int col) { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
-  const T& operator()(int row, int col) const { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
-  T& operator()(int row, int col) { return m_data.at(static_cast<size_t>(row * m_nCol + col)); }
+  BasicArray topRows(int n)
+  {
+    return middleRows(0, n);
+  }
+  BasicArray bottomRows(int n)
+  {
+    return middleRows(m_nRow - n, n);
+  }
+  const T& at(int row, int col) const
+  {
+    return m_data.at(static_cast<size_t>(row * m_nCol + col));
+  }
+  T& at(int row, int col)
+  {
+    return m_data.at(static_cast<size_t>(row * m_nCol + col));
+  }
+  const T& operator()(int row, int col) const
+  {
+    return m_data.at(static_cast<size_t>(row * m_nCol + col));
+  }
+  T& operator()(int row, int col)
+  {
+    return m_data.at(static_cast<size_t>(row * m_nCol + col));
+  }
   std::vector<T> col(int col)
   {
     std::vector<T> out;
@@ -95,8 +131,17 @@ struct BasicArray
     return out;
   }
 
-  std::vector<T> flatten() { return m_data; }
-  T* data() { return m_data.data(); }
-  T* data() const { return m_data.data(); }
+  std::vector<T> flatten()
+  {
+    return m_data;
+  }
+  T* data()
+  {
+    return m_data.data();
+  }
+  T* data() const
+  {
+    return m_data.data();
+  }
 };
 }  // namespace util
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
index 5624d42794..54b5a4a598 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/config.hpp
@@ -18,9 +18,13 @@ struct ParameterBase
 {
   std::string m_name;
   std::string m_desc;
-  ParameterBase(const std::string& name, const std::string& desc) : m_name(name), m_desc(desc) {}
+  ParameterBase(const std::string& name, const std::string& desc) : m_name(name), m_desc(desc)
+  {
+  }
   virtual void addToBoost(po::options_description&) = 0;
-  virtual ~ParameterBase() {}
+  virtual ~ParameterBase()
+  {
+  }
 };
 typedef std::shared_ptr<ParameterBase> ParameterBasePtr;
 
@@ -28,11 +32,13 @@ template <typename T>
 struct ParameterVec : ParameterBase
 {
   std::vector<T>* m_value;
-  ParameterVec(std::string name, std::vector<T>* value, std::string desc) : ParameterBase(name, desc), m_value(value) {}
+  ParameterVec(std::string name, std::vector<T>* value, std::string desc) : ParameterBase(name, desc), m_value(value)
+  {
+  }
   void addToBoost(po::options_description& od)
   {
-    od.add_options()(
-        m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value))->multitoken(), m_desc.c_str());
+    od.add_options()(m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value))->multitoken(),
+                     m_desc.c_str());
   }
 };
 
@@ -40,7 +46,9 @@ template <typename T>
 struct Parameter : ParameterBase
 {
   T* m_value;
-  Parameter(std::string name, T* value, std::string desc) : ParameterBase(name, desc), m_value(value) {}
+  Parameter(std::string name, T* value, std::string desc) : ParameterBase(name, desc), m_value(value)
+  {
+  }
   void addToBoost(po::options_description& od)
   {
     od.add_options()(m_name.c_str(), po::value(m_value)->default_value(*m_value, Str(*m_value)), m_desc.c_str());
@@ -50,14 +58,23 @@ struct Parameter : ParameterBase
 struct Config
 {
   std::vector<ParameterBasePtr> params;
-  void add(ParameterBase* param) { params.push_back(ParameterBasePtr(param)); }
+  void add(ParameterBase* param)
+  {
+    params.push_back(ParameterBasePtr(param));
+  }
 };
 
 struct CommandParser
 {
   std::vector<Config> configs;
-  void addGroup(const Config& config) { configs.push_back(config); }
-  CommandParser(const Config& config) { addGroup(config); }
+  void addGroup(const Config& config)
+  {
+    configs.push_back(config);
+  }
+  CommandParser(const Config& config)
+  {
+    addGroup(config);
+  }
   void read(int argc, char* argv[]);
 };
 }
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
index da8251685a..482c193d1a 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/logging.hpp
@@ -17,7 +17,10 @@ enum LogLevel
 };
 
 extern LogLevel gLogLevel;
-inline LogLevel GetLogLevel() { return gLogLevel; }
+inline LogLevel GetLogLevel()
+{
+  return gLogLevel;
+}
 #define FATAL_PREFIX "\x1b[31m[FATAL] "
 #define ERROR_PREFIX "\x1b[31m[ERROR] "
 #define WARN_PREFIX "\x1b[33m[WARN] "
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
index 9847eee813..1c71ef8f1c 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/math.hpp
@@ -6,5 +6,8 @@ TRAJOPT_IGNORE_WARNINGS_POP
 
 namespace util
 {
-float randf() { return (float)rand() / (float)RAND_MAX; }
+float randf()
+{
+  return (float)rand() / (float)RAND_MAX;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
index 9af82b3688..5a17476b3b 100644
--- a/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
+++ b/moveit_planners/trajopt/trajopt_utils/include/trajopt_utils/vector_ops.hpp
@@ -13,5 +13,8 @@ std::vector<int> arange(int n)
   return out;
 }
 
-inline bool doubleEquals(double x, double y, double eps = 1E-5) { return std::abs(x - y) < eps; }
+inline bool doubleEquals(double x, double y, double eps = 1E-5)
+{
+  return std::abs(x - y) < eps;
+}
 }
diff --git a/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp b/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
index 0ac38542bd..ab8e0b9c2e 100644
--- a/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
+++ b/moveit_planners/trajopt/trajopt_utils/src/stl_to_string.cpp
@@ -18,7 +18,16 @@ std::string Str_impl(const std::vector<T>& x)
 
 namespace util
 {
-std::string Str(const std::vector<double>& x) { return Str_impl(x); }
-std::string Str(const std::vector<float>& x) { return Str_impl(x); }
-std::string Str(const std::vector<int>& x) { return Str_impl(x); }
+std::string Str(const std::vector<double>& x)
+{
+  return Str_impl(x);
+}
+std::string Str(const std::vector<float>& x)
+{
+  return Str_impl(x);
+}
+std::string Str(const std::vector<int>& x)
+{
+  return Str_impl(x);
+}
 }

From 7e37d089d76ef73cab0e09ae4812c82bedfab6fa Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 16 Aug 2019 11:32:36 -0600
Subject: [PATCH 85/96] removed trajopt_test_support from package.xml

---
 moveit_planners/trajopt/trajopt/package.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_planners/trajopt/trajopt/package.xml b/moveit_planners/trajopt/trajopt/package.xml
index d17422a2a7..ce1731dff7 100644
--- a/moveit_planners/trajopt/trajopt/package.xml
+++ b/moveit_planners/trajopt/trajopt/package.xml
@@ -17,7 +17,6 @@
   <test_depend>gtest</test_depend>
   <test_depend>rostest</test_depend>
   <test_depend>roslib</test_depend>
-  <test_depend>trajopt_test_support</test_depend>
   <test_depend>libpcl-all-dev</test_depend>
   <test_depend>pcl_conversions</test_depend>
   <test_depend>pr2_description</test_depend>

From c6625fb33832654f3ed9fc4ef624c182ec50c5e2 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 16 Aug 2019 12:16:16 -0600
Subject: [PATCH 86/96] fixed travis errors

---
 moveit_planners/trajopt/trajopt/CMakeLists.txt       |  1 -
 .../trajopt/trajopt_interface/CMakeLists.txt         | 12 ++++--------
 .../trajopt/trajopt_interface/package.xml            |  5 ++++-
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt   |  1 -
 4 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index 3e6b065bc2..e3238047dc 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -33,7 +33,6 @@ catkin_package(
     ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
-    ${JSONCPP_LIBRARIES}
   CATKIN_DEPENDS
     trajopt_sco
     trajopt_utils
diff --git a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
index 5627a8949d..13ec937819 100644
--- a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
@@ -74,14 +74,10 @@ target_link_libraries(moveit_trajopt_planner_plugin ${PROJECT_NAME} ${catkin_LIB
 
 # Mark executables and/or libraries for installation
 install(
-  TARGETS
-    moveit_trajopt_planner_plugin
-  ARCHIVE DESTINATION
-    ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION
-    ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION
-    ${CATKIN_PACKAGE_BIN_DESTINATION}
+  TARGETS ${PROJECT_NAME} moveit_trajopt_planner_plugin
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
 # Mark cpp header files for installation
diff --git a/moveit_planners/trajopt/trajopt_interface/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
index d12e387533..4d5a05915f 100644
--- a/moveit_planners/trajopt/trajopt_interface/package.xml
+++ b/moveit_planners/trajopt/trajopt_interface/package.xml
@@ -25,7 +25,10 @@
   <depend>roscpp</depend>
   <depend>rosparam_shortcuts</depend>
   <depend>trajopt</depend>
-
+  <depend>trajopt_sco</depend>
+  <depend>trajopt_utils</depend>    
+  <depend>rostest</depend>
+  
   <export>
     <moveit_core plugin="${prefix}/trajopt_interface_plugin_description.xml"/>
   </export>
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index 037c11ae27..a77672afab 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -34,7 +34,6 @@ catkin_package(
     ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
-    ${JSONCPP_LIBRARIES}
   CATKIN_DEPENDS trajopt_utils
   DEPENDS
     EIGEN3

From 698188b08abfce3ff4844b3b67455e864ab3a143 Mon Sep 17 00:00:00 2001
From: omid1366 <omid@picknik.ai>
Date: Fri, 16 Aug 2019 16:18:44 -0600
Subject: [PATCH 87/96] addressed Dave's comments

---
 .../trajopt/trajopt/CMakeLists.txt            | 21 +++++++------------
 .../trajopt/src/problem_description.cpp       |  2 +-
 .../trajopt/trajopt_sco/CMakeLists.txt        |  2 +-
 moveit_planners/trajopt/trajopt_sco/README.md |  3 +++
 .../trajopt/trajopt_utils/CMakeLists.txt      |  2 +-
 .../trajopt/trajopt_utils/README.md           |  3 +++
 6 files changed, 17 insertions(+), 16 deletions(-)
 create mode 100644 moveit_planners/trajopt/trajopt_sco/README.md
 create mode 100644 moveit_planners/trajopt/trajopt_utils/README.md

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index e3238047dc..d6fffa7713 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -15,18 +15,6 @@ find_package(Boost COMPONENTS system python thread program_options REQUIRED)
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(JSONCPP jsoncpp)
 
-link_directories(
-    /usr/local/lib
-    /usr/local/lib64
-)
-
-set(TRAJOPT_SOURCE_FILES
-    src/trajectory_costs.cpp
-    src/kinematic_terms.cpp
-    src/problem_description.cpp
-    src/utils.cpp
-)
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -50,6 +38,13 @@ include_directories(
   SYSTEM ${JSONCPP_INCLUDE_DIRS}
 )
 
+set(TRAJOPT_SOURCE_FILES
+    src/trajectory_costs.cpp
+    src/kinematic_terms.cpp
+    src/problem_description.cpp
+    src/utils.cpp
+)
+
 add_library(${PROJECT_NAME} ${TRAJOPT_SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME} ${Boost_SYSTEM_LIBRARY} ${JSONCPP_LIBRARIES} ${catkin_LIBRARIES})
 target_compile_options(${PROJECT_NAME} PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
@@ -65,5 +60,5 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" PATTERN "*.hxx"
-  PATTERN ".svn" EXCLUDE
+  EXCLUDE
  )
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 3a7c9477ca..0e9caa6fe2 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -551,7 +551,7 @@ void generateInitialTrajectory(const ProblemInfo& pci, const std::vector<double>
                                trajopt::TrajArray& init_traj)
 {
   Eigen::VectorXd current_pos(current_joint_values.size());
-  for (int joint_index = 0; joint_index < current_joint_values.size(); ++joint_index)
+  for (std::size_t joint_index = 0; joint_index < current_joint_values.size(); ++joint_index)
   {
     current_pos(joint_index) = current_joint_values[joint_index];
   }
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index a77672afab..daf99f9099 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -118,7 +118,7 @@ install(
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  PATTERN ".svn" EXCLUDE
+  EXCLUDE
  )
 
 if (CATKIN_ENABLE_TESTING)
diff --git a/moveit_planners/trajopt/trajopt_sco/README.md b/moveit_planners/trajopt/trajopt_sco/README.md
new file mode 100644
index 0000000000..1c18708b1f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_sco/README.md
@@ -0,0 +1,3 @@
+TODO(ommmid): Remove code duplication.
+This package temporarily copied into moveit until the repo trajopt_ros does not depend on Tesseract
+See ros-industrial-consortium/trajopt_ros#122
\ No newline at end of file
diff --git a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
index b5601e3116..2e06312d7c 100644
--- a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
@@ -45,5 +45,5 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  PATTERN ".svn" EXCLUDE
+  EXCLUDE
  )
diff --git a/moveit_planners/trajopt/trajopt_utils/README.md b/moveit_planners/trajopt/trajopt_utils/README.md
new file mode 100644
index 0000000000..1c18708b1f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt_utils/README.md
@@ -0,0 +1,3 @@
+TODO(ommmid): Remove code duplication.
+This package temporarily copied into moveit until the repo trajopt_ros does not depend on Tesseract
+See ros-industrial-consortium/trajopt_ros#122
\ No newline at end of file

From 40a7d490ef46c363ddbbcafa7425cd42af92bbe8 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Thu, 19 Sep 2019 18:59:14 +0300
Subject: [PATCH 88/96] Enable installing .hpp files

---
 moveit_planners/trajopt/trajopt/CMakeLists.txt       | 1 -
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt   | 1 -
 moveit_planners/trajopt/trajopt_utils/CMakeLists.txt | 1 -
 3 files changed, 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index d6fffa7713..f888a13a12 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -60,5 +60,4 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" PATTERN "*.hxx"
-  EXCLUDE
  )
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index daf99f9099..d1a2e32192 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -118,7 +118,6 @@ install(
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  EXCLUDE
  )
 
 if (CATKIN_ENABLE_TESTING)
diff --git a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
index 2e06312d7c..478b1ca414 100644
--- a/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_utils/CMakeLists.txt
@@ -45,5 +45,4 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  EXCLUDE
  )

From e92dcd920d421b23fa4fd07755a8fe1f0afba0d0 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Thu, 19 Sep 2019 23:12:33 +0300
Subject: [PATCH 89/96] Fix catkin_lint errors

---
 moveit_planners/trajopt/trajopt/CMakeLists.txt           | 1 -
 moveit_planners/trajopt/trajopt_interface/CMakeLists.txt | 1 +
 moveit_planners/trajopt/trajopt_interface/package.xml    | 4 +++-
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt       | 1 -
 moveit_planners/trajopt/trajopt_sco/package.xml          | 2 ++
 5 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/CMakeLists.txt b/moveit_planners/trajopt/trajopt/CMakeLists.txt
index f888a13a12..3536268e5a 100644
--- a/moveit_planners/trajopt/trajopt/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt/CMakeLists.txt
@@ -18,7 +18,6 @@ pkg_check_modules(JSONCPP jsoncpp)
 catkin_package(
   INCLUDE_DIRS
     include
-    ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
   CATKIN_DEPENDS
diff --git a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
index 13ec937819..33f3408eb5 100644
--- a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(catkin REQUIRED
       trajopt
       trajopt_sco
       trajopt_utils
+      rosparam_shortcuts
 )
 
 catkin_package(
diff --git a/moveit_planners/trajopt/trajopt_interface/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
index 4d5a05915f..cdb96b4888 100644
--- a/moveit_planners/trajopt/trajopt_interface/package.xml
+++ b/moveit_planners/trajopt/trajopt_interface/package.xml
@@ -27,7 +27,9 @@
   <depend>trajopt</depend>
   <depend>trajopt_sco</depend>
   <depend>trajopt_utils</depend>    
-  <depend>rostest</depend>
+
+  <test_depend>rosunit</test_depend>
+  <test_depend>rostest</test_depend>
   
   <export>
     <moveit_core plugin="${prefix}/trajopt_interface_plugin_description.xml"/>
diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index d1a2e32192..1b7712f382 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -31,7 +31,6 @@ endif()
 catkin_package(
   INCLUDE_DIRS
     include
-    ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
   CATKIN_DEPENDS trajopt_utils
diff --git a/moveit_planners/trajopt/trajopt_sco/package.xml b/moveit_planners/trajopt/trajopt_sco/package.xml
index 2198ffb689..eaba8862f4 100644
--- a/moveit_planners/trajopt/trajopt_sco/package.xml
+++ b/moveit_planners/trajopt/trajopt_sco/package.xml
@@ -9,6 +9,8 @@
   <buildtool_depend>catkin</buildtool_depend>
   <depend>trajopt_utils</depend>
 
+  <test_depend>rosunit</test_depend>
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

From 92ee4570f8fa051190a64c6abbc32737a807fdf6 Mon Sep 17 00:00:00 2001
From: JafarAbdi <cafer.abdi@gmail.com>
Date: Fri, 20 Sep 2019 10:57:56 +0300
Subject: [PATCH 90/96] Update included header files - Correct namespace

---
 .../trajopt/trajopt_interface/test/trajectory_test.cpp      | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
index 3494ba2d9e..d8763a30de 100644
--- a/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/test/trajectory_test.cpp
@@ -29,8 +29,8 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/utils/robot_model_test_utils.h>
 
-#include <trajopt_interface/problem_description.h>
-#include <trajopt_interface/kinematic_terms.h>
+#include <trajopt/problem_description.h>
+#include <trajopt/kinematic_terms.h>
 
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit/move_group_interface/move_group_interface.h>
@@ -67,7 +67,7 @@ TEST_F(TrajectoryTest, concatVectorValidation)
 {
   std::vector<double> vec_a = { 1, 2, 3, 4, 5 };
   std::vector<double> vec_b = { 6, 7, 8, 9, 10 };
-  std::vector<double> vec_c = trajopt_interface::concatVector(vec_a, vec_b);
+  std::vector<double> vec_c = trajopt::concatVector(vec_a, vec_b);
   EXPECT_EQ(vec_c.size(), vec_a.size() + vec_b.size());
 
   // Check if the output of concatVector is correct.

From 2f619a133af3536ad208091f5c8733aaf2fdbb0f Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Fri, 20 Sep 2019 18:13:46 +0300
Subject: [PATCH 91/96] Update CMakeLists.txt

---
 moveit_planners/trajopt/trajopt_interface/CMakeLists.txt | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
index 33f3408eb5..8f564a302a 100644
--- a/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_interface/CMakeLists.txt
@@ -18,7 +18,6 @@ find_package(catkin REQUIRED
       trajopt
       trajopt_sco
       trajopt_utils
-      rosparam_shortcuts
 )
 
 catkin_package(
@@ -32,7 +31,6 @@ catkin_package(
       moveit_core
       moveit_visual_tools
       moveit_ros_planning_interface
-      rosparam_shortcuts
 )
 
 # The following include_directory should have include folder of the new planner.
@@ -107,4 +105,4 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
   )
 
-endif()
\ No newline at end of file
+endif()

From 285bc5e4ec25808d576d895957b388bf0bf5647d Mon Sep 17 00:00:00 2001
From: Jafar Abdi <cafer.abdi@gmail.com>
Date: Fri, 20 Sep 2019 18:13:54 +0300
Subject: [PATCH 92/96] Update package.xml

---
 moveit_planners/trajopt/trajopt_interface/package.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/package.xml b/moveit_planners/trajopt/trajopt_interface/package.xml
index cdb96b4888..9bba70b4ee 100644
--- a/moveit_planners/trajopt/trajopt_interface/package.xml
+++ b/moveit_planners/trajopt/trajopt_interface/package.xml
@@ -23,7 +23,6 @@
   <depend>moveit_ros_planning_interface</depend>
   <depend>moveit_visual_tools</depend>
   <depend>roscpp</depend>
-  <depend>rosparam_shortcuts</depend>
   <depend>trajopt</depend>
   <depend>trajopt_sco</depend>
   <depend>trajopt_utils</depend>    

From cc2497f2c6dec614ec9811ae0a3910fe817aea43 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Sun, 22 Sep 2019 15:54:53 -0600
Subject: [PATCH 93/96] added README.md to trajopt package

---
 moveit_planners/trajopt/trajopt/README.md | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 moveit_planners/trajopt/trajopt/README.md

diff --git a/moveit_planners/trajopt/trajopt/README.md b/moveit_planners/trajopt/trajopt/README.md
new file mode 100644
index 0000000000..1c18708b1f
--- /dev/null
+++ b/moveit_planners/trajopt/trajopt/README.md
@@ -0,0 +1,3 @@
+TODO(ommmid): Remove code duplication.
+This package temporarily copied into moveit until the repo trajopt_ros does not depend on Tesseract
+See ros-industrial-consortium/trajopt_ros#122
\ No newline at end of file

From 44fe6ab08f909ac3def9c57f41fadc546d0234af Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Fri, 27 Sep 2019 11:59:39 -0600
Subject: [PATCH 94/96] marked override

---
 .../trajopt/trajopt/include/trajopt/kinematic_terms.h         | 4 ++--
 moveit_planners/trajopt/trajopt/src/problem_description.cpp   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
index 8149180af3..b8daa7515e 100644
--- a/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
+++ b/moveit_planners/trajopt/trajopt/include/trajopt/kinematic_terms.h
@@ -82,12 +82,12 @@ struct JointVelErrCalculator : sco::VectorOfVector
   {
   }
 
-  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const;
+  Eigen::VectorXd operator()(const Eigen::VectorXd& var_vals) const override;
 };
 
 struct JointVelJacobianCalculator : sco::MatrixOfVector
 {
-  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const;
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& var_vals) const override;
 };
 
 }  // namespace trajopt
diff --git a/moveit_planners/trajopt/trajopt/src/problem_description.cpp b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
index 0e9caa6fe2..3fa093c399 100644
--- a/moveit_planners/trajopt/trajopt/src/problem_description.cpp
+++ b/moveit_planners/trajopt/trajopt/src/problem_description.cpp
@@ -88,7 +88,7 @@ TrajOptProblem::TrajOptProblem(const ProblemInfo& problem_info)
   const robot_state::JointModelGroup* joint_model_group = current_state.getJointModelGroup(planning_group_);
 
   moveit::core::JointBoundsVector bounds = joint_model_group->getActiveJointModelsBounds();
-  dof_ = joint_model_group->getActiveJointModelNames().size();  // or bounds.size();
+  dof_ = static_cast<int>(joint_model_group->getActiveJointModelNames().size());  // or bounds.size();
 
   int n_steps = problem_info.basic_info.n_steps;
 

From 725e76ed6dc2a5eaf3a5deca24d8f26314fa3b00 Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Sun, 27 Oct 2019 18:07:42 -0600
Subject: [PATCH 95/96] added the reference trajectory; before, it was
 hard-coded

---
 .../src/trajopt_interface.cpp                 | 35 ++++++++++++-------
 1 file changed, 22 insertions(+), 13 deletions(-)

diff --git a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
index f8b54c7d39..de9832e800 100644
--- a/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
+++ b/moveit_planners/trajopt/trajopt_interface/src/trajopt_interface.cpp
@@ -118,26 +118,35 @@ bool TrajOptInterface::solve(const planning_scene::PlanningSceneConstPtr& planni
 
   ROS_INFO(" ======================================= Create ProblemInfo");
   trajopt::ProblemInfo problem_info(planning_scene, req.group_name);
-
   setProblemInfoParam(problem_info);
 
-  ROS_INFO(" ======================================= Populate init info, hard-coded");
-  // TODO: init info should be defined by user. To this end, we need to add seed trajectories to MotionPlanRequest.
-  // JOINT_INTERPOLATED: data is the current joint values
-  // GIVEN_TRAJ: data is the joint values of the current state copied to all timesteps
-  Eigen::VectorXd current_joint_values_eigen(dof);
-  for (int joint_index = 0; joint_index < dof; ++joint_index)
-  {
-    current_joint_values_eigen(joint_index) = current_joint_values[joint_index];
-  }
-
+  ROS_INFO(" ======================================= Populate init info");
+  // For type JOINT_INTERPOLATED, we need the configuration of the robot at one state (which should be the goal), we do
+  // not need the robot configuration along the whole trajectory. That is why we need one index which is 0 for "points[]"
   if (problem_info.init_info.type == trajopt::InitInfo::JOINT_INTERPOLATED)
   {
-    problem_info.init_info.data = current_joint_values_eigen;
+    Eigen::VectorXd initial_joint_values_eigen(dof); 
+    for (int joint_index = 0; joint_index < dof; ++joint_index)
+    {
+      initial_joint_values_eigen(joint_index) = req.reference_trajectories[0].joint_trajectory[0].points[0].positions[joint_index];
+    }
+    
+    problem_info.init_info.data =  initial_joint_values_eigen;
   }
   else if (problem_info.init_info.type == trajopt::InitInfo::GIVEN_TRAJ)
   {
-    problem_info.init_info.data = current_joint_values_eigen.transpose().replicate(problem_info.basic_info.n_steps, 1);
+    int num_steps = problem_info.basic_info.n_steps;
+    trajopt::TrajArray init_traj;
+    init_traj.resize(num_steps, dof);
+    for (std::size_t step = 0; step < num_steps; ++num_steps)
+    {
+      for (std::size_t joint_index = 0; joint_index < dof; ++joint_index )
+	{
+	  init_traj(step, joint_index) = req.reference_trajectories[0].joint_trajectory[0].points[step].positions[joint_index];
+	}
+    }
+    
+    problem_info.init_info.data = init_traj;
   }
 
   ROS_INFO(" ======================================= Create Constraints");

From b72a7bd48e47b89aaffb0377a2dfa5a025898cdf Mon Sep 17 00:00:00 2001
From: omid <omid@picknik.ai>
Date: Wed, 6 Nov 2019 18:22:05 -0700
Subject: [PATCH 96/96] find osqp locally

---
 moveit_planners/trajopt/trajopt_sco/CMakeLists.txt | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
index 1b7712f382..14826bab2b 100644
--- a/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
+++ b/moveit_planners/trajopt/trajopt_sco/CMakeLists.txt
@@ -3,13 +3,17 @@ project(trajopt_sco)
 
 add_compile_options(-std=c++11 -Wall -Wextra)
 
+set(osqp_DIR "/home/omid/osqp/build")
+message(WARNING "osqp_dir ---------------> ${osqp_DIR}")
+
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
 find_package(catkin REQUIRED COMPONENTS trajopt_utils)
 find_package(GUROBI QUIET)
-find_package(osqp QUIET)
+find_package(osqp)
 find_package(qpOASES QUIET)
 find_package(Eigen3 REQUIRED)
 
+
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(JSONCPP jsoncpp)