From 93b46ef21429bc91c8afa1b79479d302764b1e9d Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sat, 28 Jan 2023 01:06:21 +0100
Subject: [PATCH 1/2] GeneratePose: forward registered properties from received
 solution

---
 core/src/stages/generate_pose.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/core/src/stages/generate_pose.cpp b/core/src/stages/generate_pose.cpp
index 8315bc955..5a0f033d4 100644
--- a/core/src/stages/generate_pose.cpp
+++ b/core/src/stages/generate_pose.cpp
@@ -70,7 +70,9 @@ void GeneratePose::compute() {
 	if (upstream_solutions_.empty())
 		return;
 
-	planning_scene::PlanningScenePtr scene = upstream_solutions_.pop()->end()->scene()->diff();
+	const SolutionBase& s = *upstream_solutions_.pop();
+	planning_scene::PlanningSceneConstPtr scene = s.end()->scene()->diff();
+
 	geometry_msgs::PoseStamped target_pose = properties().get<geometry_msgs::PoseStamped>("pose");
 	if (target_pose.header.frame_id.empty())
 		target_pose.header.frame_id = scene->getPlanningFrame();
@@ -80,6 +82,7 @@ void GeneratePose::compute() {
 	}
 
 	InterfaceState state(scene);
+	forwardProperties(*s.end(), state);  // forward registered properties from received solution
 	state.properties().set("target_pose", target_pose);
 
 	SubTrajectory trajectory;

From 49b3bd0d568409955357fca3b636a097020464e4 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 2 Feb 2023 10:02:45 +0100
Subject: [PATCH 2/2] ros1-0.1.0

---
 capabilities/CHANGELOG.rst      | 8 ++++++++
 capabilities/package.xml        | 2 +-
 core/CHANGELOG.rst              | 8 ++++++++
 core/package.xml                | 2 +-
 demo/CHANGELOG.rst              | 8 ++++++++
 demo/package.xml                | 2 +-
 msgs/CHANGELOG.rst              | 8 ++++++++
 msgs/package.xml                | 2 +-
 rviz_marker_tools/CHANGELOG.rst | 8 ++++++++
 rviz_marker_tools/package.xml   | 2 +-
 visualization/CHANGELOG.rst     | 8 ++++++++
 visualization/package.xml       | 2 +-
 12 files changed, 54 insertions(+), 6 deletions(-)
 create mode 100644 capabilities/CHANGELOG.rst
 create mode 100644 core/CHANGELOG.rst
 create mode 100644 demo/CHANGELOG.rst
 create mode 100644 msgs/CHANGELOG.rst
 create mode 100644 rviz_marker_tools/CHANGELOG.rst
 create mode 100644 visualization/CHANGELOG.rst

diff --git a/capabilities/CHANGELOG.rst b/capabilities/CHANGELOG.rst
new file mode 100644
index 000000000..ad574bdb4
--- /dev/null
+++ b/capabilities/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_capabilities
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Michael Görner, Robert Haschke
diff --git a/capabilities/package.xml b/capabilities/package.xml
index 7ae112f2b..e4a99dacc 100644
--- a/capabilities/package.xml
+++ b/capabilities/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
 	<name>moveit_task_constructor_capabilities</name>
-	<version>0.0.0</version>
+	<version>0.1.0</version>
 	<description>
 	MoveGroupCapabilites to interact with MoveIt
 	</description>
diff --git a/core/CHANGELOG.rst b/core/CHANGELOG.rst
new file mode 100644
index 000000000..2d9e93900
--- /dev/null
+++ b/core/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_core
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Michael Görner, Robert Haschke, Captain Yoshi, Christian Petersmeier, Henning Kayser, Jafar Abdi, Tyler Weaver
diff --git a/core/package.xml b/core/package.xml
index 0459fd540..0f8386382 100644
--- a/core/package.xml
+++ b/core/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
 	<name>moveit_task_constructor_core</name>
-	<version>0.0.0</version>
+	<version>0.1.0</version>
 	<description>MoveIt Task Pipeline</description>
 
 	<url type="website">https://github.com/ros-planning/moveit_task_constructor</url>
diff --git a/demo/CHANGELOG.rst b/demo/CHANGELOG.rst
new file mode 100644
index 000000000..a7bb7ea3e
--- /dev/null
+++ b/demo/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_demo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Michael Görner, Robert Haschke
diff --git a/demo/package.xml b/demo/package.xml
index c4ccda3dc..265813b01 100644
--- a/demo/package.xml
+++ b/demo/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_task_constructor_demo</name>
-  <version>0.0.1</version>
+  <version>0.1.0</version>
   <description>demo tasks illustrating various capabilities of MTC.</description>
 
   <author email="simongold@picknik.ai">simon Goldstein</author>
diff --git a/msgs/CHANGELOG.rst b/msgs/CHANGELOG.rst
new file mode 100644
index 000000000..7897285ca
--- /dev/null
+++ b/msgs/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Michael Görner, Robert Haschke
diff --git a/msgs/package.xml b/msgs/package.xml
index f0bf4ec57..00cef36a5 100644
--- a/msgs/package.xml
+++ b/msgs/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
 	<name>moveit_task_constructor_msgs</name>
-	<version>0.0.0</version>
+	<version>0.1.0</version>
 	<description>Messages for MoveIt Task Pipeline</description>
 
 	<license>BSD</license>
diff --git a/rviz_marker_tools/CHANGELOG.rst b/rviz_marker_tools/CHANGELOG.rst
new file mode 100644
index 000000000..7d7a83ced
--- /dev/null
+++ b/rviz_marker_tools/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package rviz_marker_tools
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Robert Haschke, Michael Görner
diff --git a/rviz_marker_tools/package.xml b/rviz_marker_tools/package.xml
index 17b0dc408..daab32f0c 100644
--- a/rviz_marker_tools/package.xml
+++ b/rviz_marker_tools/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
 	<name>rviz_marker_tools</name>
-	<version>0.0.0</version>
+	<version>0.1.0</version>
 	<description>Tools for marker creation / handling</description>
 
 	<license>BSD</license>
diff --git a/visualization/CHANGELOG.rst b/visualization/CHANGELOG.rst
new file mode 100644
index 000000000..959674a85
--- /dev/null
+++ b/visualization/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_visualization
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Robert Haschke, Michael Görner
diff --git a/visualization/package.xml b/visualization/package.xml
index 196503bf6..8a9caefc1 100644
--- a/visualization/package.xml
+++ b/visualization/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
 	<name>moveit_task_constructor_visualization</name>
-	<version>0.0.0</version>
+	<version>0.1.0</version>
 	<description>Visualization tools for MoveIt Task Pipeline</description>
 
 	<license>BSD</license>