# MoveIt Melodic Release (1.0.5)

**URL:** https://discourse.openrobotics.org/t/moveit-melodic-release-1-0-5/15583
**Category:** Manipulation
**Tags:** release, melodic
**Created:** [July 24, 2020, 11:07am UTC](https://discourse.openrobotics.org/t/moveit-melodic-release-1-0-5/15583 "2020-07-24T11:07:25Z")
**Posts on this page:** 1
**Page:** 1

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### Author: ![tylerweaver](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/tylerweaver/32/15495_2.png) [@tylerweaver](https://discourse.openrobotics.org/u/tylerweaver)
#### Post date: [July 24, 2020, 11:07am UTC](https://discourse.openrobotics.org/t/moveit-melodic-release-1-0-5/15583/1 "2020-07-24T11:07:25Z")

</div>

Many of the awesome features and bug fixes only available to people building MoveIt on master from source are coming to an apt repo near you. Along with all these great features come bug fixes and some new tests that helped find those bugs.

## Highlighted features

### moveit\_servo (Formally moveit\_jog\_arm)

Real-time robot arm control. [So cool, we even got a smile from a famous person while using it.](https://www.youtube.com/watch?v=uwYtwQtoOh0)  
 ![thank_you_servo](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/5/5bfead30000d6cbc6950095b23658186efbae06e.gif)  
[Here is an tutorial for getting started with it.](https://ros-planning.github.io/moveit_tutorials/doc/arm_jogging/arm_jogging_tutorial.html)

### moveit\_cpp

There is a new high level API for users who want convenient access to MoveIt’s functionality via C++ classes. [Here is the tutorial for using it.](https://ros-planning.github.io/moveit_tutorials/doc/moveit_cpp/moveitcpp_tutorial.html)

## Additional features

- Allow parameterization of input trajectory density of Time Optimal trajectory generation (#2185)
- Add support for hybridize/interpolate flags in ModelBasedPlanningContext via ompl\_planning.yaml (#2171)
- Improve responsiveness of PlanningSceneDisplay (#2049)
- Use plan\_request\_params in PlanningComponent (#2033)
- Ask for scaling large meshes in rviz (#2142)
- Speed up PlanningSceneDisplay (#2049)
- Add support for PS4 joystick (#2060)
- Add use\_rviz to demo.launch in setup\_assistant (#2019)

## Bug fixes

- Behaviors (#2113, #2054, #2157, #2076, #2082, #2120)
- Segfaults (#2104, #2106)
- Memory leaks (#2138)
- Python 3 (#2030)

## Contributors

- Jafar Abdi
- Patrick Beeson
- Constantinos
- Felix von Drigalski
- Michael Görner
- Robert Haschke
- Henning Kayser
- Jere Liukkonen
- Wolfgang Merkt
- Mark Moll
- Simon Schmeisser
- John Stechschulte
- TrippleBender
- Tyler Weaver
- Yeshwanth
- Andy Zelenak