From 5a7a7fe3975b899cfa3804583ebb3a48cc08bcf3 Mon Sep 17 00:00:00 2001 From: Shobuj Paul Date: Fri, 23 Feb 2024 17:26:12 +0530 Subject: [PATCH] Updated MIGRATION.md --- MIGRATION.md | 1 + 1 file changed, 1 insertion(+) diff --git a/MIGRATION.md b/MIGRATION.md index 9af12e14c4c..5772d599b35 100644 --- a/MIGRATION.md +++ b/MIGRATION.md @@ -3,6 +3,7 @@ API changes in MoveIt releases ## ROS Rolling +- [2/2024] `StompPlanningContext::solve(planning_interface::MotionPlanDetailedResponse&)` has been implemented which gives a detailed response with multiple trajectories and their corresponding planning times. - [12/2023] `trajectory_processing::Path` and `trajectory_processing::Trajectory` APIs have been updated to prevent misuse. The constructors have been replaced by builder methods so that errors can be communicated. Paths and trajectories now need to be created with `Path::Create()` and `Trajectory::Create()`. These methods now return an `std::optional` that needs to be checked for a valid value. `Trajectory` no longer has the `isValid()` method. If it's invalid, `Trajectory::Create()` will return `std::nullopt`. Finally, `Path` now takes the list of input waypoints as `std::vector`, instead of `std::list`. - [12/2023] LMA kinematics plugin is removed to remove the maintenance work because better alternatives exist like KDL or TracIK