MoveIt Servo (GreenForge Labs fork)

This is a fork of the moveit_servo package from MoveIt 2, extracted as a standalone repository so it can be consumed via vcs/dependencies.repos alongside binary MoveIt packages.

Base: moveit_servo 2.12.4, imported from moveit/moveit2@1ade0e9 (the 2.12.4 tag), path moveit_ros/moveit_servo.

Fork delta

Kept intentionally minimal — one reviewable patch on top of the pristine import:

1. check_singularity parameter (default true, i.e. upstream behaviour). When false, the singularity condition-number check and its velocity scaling/halting are skipped entirely in jointDeltaFromTwist and jointDeltaFromPose.

   Rationale: velocityScalingFactorForSingularity indexes the Jacobian SVD with dims = target_delta_x.size() (always 6), but for a move group with fewer than 6 joints the thin SVD of the 6×N Jacobian has only N singular values and a 6×N U matrix — singularValues()(dims - 1) and matrixU().col(dims - 1) read out of bounds (undefined behaviour in release builds; garbage condition numbers that can spuriously scale or halt motion regardless of threshold configuration). Setting the thresholds high does not avoid this, because the computation runs before the comparison. An upstream fix is in review at moveit/moveit2#3750; once it ships in a release this fork can be retired.

2. Launch-based integration tests off by default (MOVEIT_SERVO_LAUNCH_TESTS=OFF). The launch_testing-based tests error at collection in environments that disable pytest plugin autoloading or ship pytest ≥ 9. Re-enable with -DMOVEIT_SERVO_LAUNCH_TESTS=ON.

Updating to a new upstream release

# 1. Fetch the new upstream tag and extract the package
curl -sL https://github.com/moveit/moveit2/archive/refs/tags/<TAG>.tar.gz | tar -xz
# 2. On a branch, replace the tree with moveit2-<TAG>/moveit_ros/moveit_servo
#    (keep this README), commit as "Import moveit_servo <TAG> from moveit/moveit2@<sha>"
# 3. Re-apply the fork delta (cherry-pick the patch commit; resolve if upstream moved)
# 4. If upstream has fixed the sub-6-DOF singularity indexing, drop patch 1 and plan
#    retirement of this fork.

License

BSD-3-Clause, unchanged from upstream. See package.xml for authors and maintainers of the original package.