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For example, there is no mention the kdl_parser or orocos_kdl in the code beyond the package.xml and CMakeLists, so those can be removed","created_at":"2016-09-07T22:26:09Z","updated_at":"2016-09-07T22:26:09Z","html_url":"https://github.com/ros-planning/moveit/pull/155#discussion_r77915929","pull_request_url":"https://api.github.com/repos/ros-planning/moveit/pulls/155","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/77915929"},"html":{"href":"https://github.com/ros-planning/moveit/pull/155#discussion_r77915929"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/155"}}},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/155","id":82690271,"html_url":"https://github.com/ros-planning/moveit/pull/155","diff_url":"https://github.com/ros-planning/moveit/pull/155.diff","patch_url":"https://github.com/ros-planning/moveit/pull/155.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/155","number":155,"state":"open","locked":false,"title":"CHOMP planner and CollisionDistanceField","user":{"login":"ksatyaki","id":7051120,"avatar_url":"https://avatars.githubusercontent.com/u/7051120?v=3","gravatar_id":"","url":"https://api.github.com/users/ksatyaki","html_url":"https://github.com/ksatyaki","followers_url":"https://api.github.com/users/ksatyaki/followers","following_url":"https://api.github.com/users/ksatyaki/following{/other_user}","gists_url":"https://api.github.com/users/ksatyaki/gists{/gist_id}","starred_url":"https://api.github.com/users/ksatyaki/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ksatyaki/subscriptions","organizations_url":"https://api.github.com/users/ksatyaki/orgs","repos_url":"https://api.github.com/users/ksatyaki/repos","events_url":"https://api.github.com/users/ksatyaki/events{/privacy}","received_events_url":"https://api.github.com/users/ksatyaki/received_events","type":"User","site_admin":false},"body":"Pull request to add chomp and collision_distance_field from ksatyaki/moveit_planners and ksatyaki/collision_distance_field.\r\n\r\n### Brief list of changes made (mostly by @jrgnicho and myself)\r\n\r\n* collision_distance_field has been catkinized and ported to the latest moveit API.\r\n* Constructor Version 1 in CollisionRobotDistanceField has been fixed.\r\n* CHOMP motion planner and the moveit interface have been updated to work with the latest moveit API.\r\n* Compiles fine. 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