Compilation fixes for Jammy and bring back Rolling CI (moveit#1095)

* Use jammy dockers and clang-format-12
* Fix unused depend, and move to python3-lxml
* add ompl to repos, fix versions and ogre
* Remove ogre keys
* Fix boolean node operator
* Stop building dockers on branch and fix servo null pointer
* update pre-commit to clang-format-12 and pre-commit fixes
* clang-format workaround and more pre-commit fixes

.docker/ci/Dockerfile

@@ -2,7 +2,7 @@
 # ROS base image augmented with all MoveIt dependencies to use for CI
 
 ARG ROS_DISTRO=rolling
-FROM ros:${ROS_DISTRO}-ros-base-focal
+FROM ros:${ROS_DISTRO}-ros-base
 MAINTAINER Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 ENV TERM xterm
@@ -25,7 +25,7 @@ RUN \
         # Some basic requirements
         wget git sudo curl \
         # Preferred build tools
-        clang clang-format-10 clang-tidy clang-tools \
+        clang clang-format-12 clang-tidy clang-tools \
         ccache && \
     #
     # Fetch all dependencies from moveit2.repos

.docker/release/Dockerfile

@@ -2,7 +2,7 @@
 # Full debian-based install of MoveIt using apt-get
 
 ARG ROS_DISTRO=rolling
-FROM ros:${ROS_DISTRO}-ros-base-focal
+FROM ros:${ROS_DISTRO}-ros-base
 MAINTAINER Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size

.github/workflows/ci.yaml

@@ -16,12 +16,12 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: galactic-ci
+          - IMAGE: rolling-ci
             CCOV: true
-            ROS_DISTRO: galactic
-          - IMAGE: galactic-ci-testing
+            ROS_DISTRO: rolling
+          - IMAGE: rolling-ci-testing
             IKFAST_TEST: true
-            ROS_DISTRO: galactic
+            ROS_DISTRO: rolling
             CLANG_TIDY: pedantic
     env:
       CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"

.github/workflows/format.yaml

@@ -17,8 +17,8 @@ jobs:
     steps:
     - uses: actions/checkout@v2
     - uses: actions/setup-python@v2
-    - name: Install clang-format-10
-      run: sudo apt-get install clang-format-10
+    - name: Install clang-format-12
+      run: sudo apt-get install clang-format-12
     - uses: pre-commit/action@v2.0.3
       id: precommit
     - name: Upload pre-commit changes

.pre-commit-config.yaml

@@ -42,7 +42,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format-12
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']

moveit2.repos

@@ -2,7 +2,7 @@ repositories:
   geometric_shapes:
     type: git
     url: https://github.com/ros-planning/geometric_shapes
-    version: 2.1.2
+    version: ros2
   moveit_msgs:
     type: git
     url: https://github.com/ros-planning/moveit_msgs
@@ -19,3 +19,7 @@ repositories:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
     version: 2.1.0
+  ompl:
+    type: git
+    url: https://github.com/ompl/ompl.git
+    version: main

moveit_kinematics/package.xml

@@ -35,7 +35,7 @@
 
   <!-- some requirements of ikfast scripts -->
   <exec_depend>urdfdom</exec_depend> <!-- provides check_urdf -->
-  <exec_depend>python-lxml</exec_depend>
+  <exec_depend>python3-lxml</exec_depend>
 
   <test_depend>moveit_ros_planning</test_depend>
   <test_depend>moveit_resources_fanuc_description</test_depend>

moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp

@@ -124,7 +124,7 @@ class PlanningContextTest : public ::testing::Test
     planning_scene::PlanningScenePtr scene(new planning_scene::PlanningScene(robot_model_));
     moveit::core::RobotState current_state(robot_model_);
     current_state.setToDefaultValues();
-    current_state.setJointGroupPositions(planning_group_, { 0, 1.57, 1.57, 0, 0.2, 0 });
+    current_state.setJointGroupPositions(planning_group_, std::vector<double>{ 0, 1.57, 1.57, 0, 0.2, 0 });
     scene->setCurrentState(current_state);
     planning_context_->setPlanningScene(scene);  // TODO Check what happens if this is missing
   }
@@ -148,8 +148,9 @@ class PlanningContextTest : public ::testing::Test
     // state state in joint space, used as initial positions, since IK does not
     // work at zero positions
     rstate.setJointGroupPositions(this->planning_group_,
-                                  { 4.430233957464225e-12, 0.007881892504574495, -1.8157263253868452,
-                                    1.1801525390026025e-11, 1.8236082178909834, 8.591793942969161e-12 });
+                                  std::vector<double>{ 4.430233957464225e-12, 0.007881892504574495, -1.8157263253868452,
+                                                       1.1801525390026025e-11, 1.8236082178909834,
+                                                       8.591793942969161e-12 });
     Eigen::Isometry3d start_pose(Eigen::Isometry3d::Identity());
     start_pose.translation() = Eigen::Vector3d(0.3, 0, 0.65);
     rstate.setFromIK(this->robot_model_->getJointModelGroup(this->planning_group_), start_pose);

moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp

@@ -142,7 +142,7 @@ class TrajectoryGeneratorCommonTest : public ::testing::Test
     req_.max_acceleration_scaling_factor = 1.0;
     moveit::core::RobotState rstate(robot_model_);
     rstate.setToDefaultValues();
-    rstate.setJointGroupPositions(planning_group_, { 0, M_PI / 2, 0, M_PI / 2, 0, 0 });
+    rstate.setJointGroupPositions(planning_group_, std::vector<double>{ 0, M_PI / 2, 0, M_PI / 2, 0, 0 });
     rstate.setVariableVelocities(std::vector<double>(rstate.getVariableCount(), 0.0));
     moveit::core::robotStateToRobotStateMsg(rstate, req_.start_state, false);
     moveit_msgs::msg::Constraints goal_constraint;

moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp

@@ -147,9 +147,9 @@ bool executeAttachObject(const ManipulationPlanSharedDataConstPtr& shared_plan_d
     ok = ps->processAttachedCollisionObjectMsg(msg);
   }
   motion_plan->planning_scene_monitor_->triggerSceneUpdateEvent(
-      (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType)(
-          planning_scene_monitor::PlanningSceneMonitor::UPDATE_GEOMETRY +
-          planning_scene_monitor::PlanningSceneMonitor::UPDATE_STATE));
+      (planning_scene_monitor::PlanningSceneMonitor::
+           SceneUpdateType)(planning_scene_monitor::PlanningSceneMonitor::UPDATE_GEOMETRY +
+                            planning_scene_monitor::PlanningSceneMonitor::UPDATE_STATE));
   return ok;
 }
 

moveit_ros/moveit_servo/include/moveit_servo/parameter_descriptor_builder.hpp

@@ -40,6 +40,7 @@
 #include <rcl_interfaces/msg/integer_range.hpp>
 #include <rcl_interfaces/msg/parameter_descriptor.hpp>
 #include <rcl_interfaces/msg/parameter_type.hpp>
+#include <limits>
 #include <string>
 
 namespace moveit_servo

moveit_ros/moveit_servo/test/servo_launch_test_common.hpp

@@ -113,7 +113,7 @@ class ServoFixture : public ::testing::Test
     // Otherwise the Servo is still running when another test starts...
     if (!client_servo_stop_)
     {
-      client_servo_stop_->async_send_request(std::make_shared<std_srvs::srv::Trigger::Request>());
+      stop();
     }
     executor_->cancel();
     if (executor_thread_.joinable())

moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h

@@ -648,7 +648,7 @@ class LockedPlanningSceneRO
     return planning_scene_monitor_ && planning_scene_monitor_->getPlanningScene();
   }
 
-  operator const planning_scene::PlanningSceneConstPtr &() const
+  operator const planning_scene::PlanningSceneConstPtr&() const
   {
     return static_cast<const PlanningSceneMonitor*>(planning_scene_monitor_.get())->getPlanningScene();
   }
@@ -729,7 +729,7 @@ class LockedPlanningSceneRW : public LockedPlanningSceneRO
   {
   }
 
-  operator const planning_scene::PlanningScenePtr &()
+  operator const planning_scene::PlanningScenePtr&()
   {
     return planning_scene_monitor_->getPlanningScene();
   }

moveit_ros/visualization/package.xml

@@ -25,7 +25,6 @@
 
   <build_depend>class_loader</build_depend>
   <build_depend>eigen</build_depend>
-  <build_depend>libogre-dev</build_depend>
   <build_depend>libqt5-opengl-dev</build_depend>
   <build_depend>qtbase5-dev</build_depend>
 

moveit_ros/warehouse/warehouse/src/broadcast.cpp

@@ -68,6 +68,7 @@ int main(int argc, char** argv)
   // time to wait in between publishing messages
   double delay = 0.001;
 
+  // clang-format off
   boost::program_options::options_description desc;
   desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(),
                                                   "Host for the "
@@ -80,7 +81,7 @@ int main(int argc, char** argv)
       "state", boost::program_options::value<std::string>(),
       "Name of the robot state to publish.")("delay", boost::program_options::value<double>()->default_value(delay),
                                              "Time to wait in between publishing messages (s)");
-
+  // clang-format on
   boost::program_options::variables_map vm;
   boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);
   boost::program_options::notify(vm);

moveit_ros/warehouse/warehouse/src/import_from_text.cpp

@@ -216,12 +216,14 @@ int main(int argc, char** argv)
   node_options.automatically_declare_parameters_from_overrides(true);
   rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("import_from_text_to_warehouse", node_options);
 
+  // clang-format off
   boost::program_options::options_description desc;
   desc.add_options()("help", "Show help message")("queries", boost::program_options::value<std::string>(),
                                                   "Name of file containing motion planning queries.")(
       "scene", boost::program_options::value<std::string>(), "Name of file containing motion planning scene.")(
       "host", boost::program_options::value<std::string>(),
       "Host for the DB.")("port", boost::program_options::value<std::size_t>(), "Port for the DB.");
+  // clang-format on
 
   boost::program_options::variables_map vm;
   boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);

moveit_setup_assistant/package.xml

@@ -20,7 +20,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>moveit_common</build_depend>
-  <build_depend>libogre-dev</build_depend>
   <build_depend>ompl</build_depend>
 
   <depend>ament_index_cpp</depend>

moveit_setup_assistant/src/collisions_updater.cpp

@@ -127,6 +127,7 @@ int main(int argc, char* argv[])
 
   uint32_t never_trials = 0;
 
+  // clang-format off
   po::options_description desc("Allowed options");
   desc.add_options()("help", "show help")("config-pkg", po::value(&config_pkg_path), "path to MoveIt config package")(
       "urdf", po::value(&urdf_path), "path to URDF ( or xacro)")("srdf", po::value(&srdf_path),
@@ -141,6 +142,7 @@ int main(int argc, char* argv[])
                                                               "number of trials for searching never colliding pairs")(
       "min-collision-fraction", po::value(&min_collision_fraction),
       "fraction of small sample size to determine links that are always colliding");
+  // clang-format on
 
   po::positional_options_description pos_desc;
   pos_desc.add("xacro-args", -1);

moveit_setup_assistant/src/setup_assistant_main.cpp

@@ -59,10 +59,12 @@ int main(int argc, char** argv)
   namespace po = boost::program_options;
 
   // Declare the supported options
+  // clang-format off
   po::options_description desc("Allowed options");
   desc.add_options()("help,h", "Show help message")("debug,g", "Run in debug/test mode")(
       "urdf_path,u", po::value<std::string>(), "Optional, path to URDF file in ROS package")(
       "config_pkg,c", po::value<std::string>(), "Optional, pass in existing config package to load");
+  // clang-format on
 
   // Process options
   po::variables_map vm;

moveit_setup_assistant/src/tools/compute_default_collisions.cpp

@@ -52,8 +52,8 @@ const boost::unordered_map<DisabledReason, std::string> REASONS_TO_STRING = boos
     DEFAULT, "Default")(ADJACENT, "Adjacent")(ALWAYS, "Always")(USER, "User")(NOT_DISABLED, "Not Disabled");
 
 const boost::unordered_map<std::string, DisabledReason> REASONS_FROM_STRING =
-    boost::assign::map_list_of("Never", NEVER)("Default", DEFAULT)("Adjacent", ADJACENT)("Always", ALWAYS)(
-        "User", USER)("Not Disabled", NOT_DISABLED);
+    boost::assign::map_list_of("Never", NEVER)("Default", DEFAULT)(
+        "Adjacent", ADJACENT)("Always", ALWAYS)("User", USER)("Not Disabled", NOT_DISABLED);
 
 // Used for logging
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("collision_updater");

moveit_setup_assistant/src/tools/moveit_config_data.cpp

@@ -1207,7 +1207,7 @@ class SortableDisabledCollision
     : dc_(dc), key_(dc.link1_ < dc.link2_ ? (dc.link1_ + "|" + dc.link2_) : (dc.link2_ + "|" + dc.link1_))
   {
   }
-  operator const srdf::Model::DisabledCollision &() const
+  operator const srdf::Model::DisabledCollision&() const
   {
     return dc_;
   }
@@ -1287,7 +1287,7 @@ template <typename T>
 bool parse(const YAML::Node& node, const std::string& key, T& storage, const T& default_value = T())
 {
   const YAML::Node& n = node[key];
-  bool valid = n;
+  bool valid = n.IsDefined();
   storage = valid ? n.as<T>() : default_value;
   return valid;
 }