ommmid · ommmid · Jul 12, 2019 · Jul 12, 2019 · Jul 16, 2019 · Jul 19, 2019
diff --git 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
@@ -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
@@ -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
@@ -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/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!"
diff --git 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/.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/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
@@ -1,13 +1,14 @@
 # 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/))
 - `moveit_rviz.launch`, generated by MSA, provides an argument `rviz_config` to configure the rviz config to be used. The old boolean config argument was dropped. ([1397](https://github.com/ros-planning/moveit/pull/1397))
 - 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`. 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