diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
index a9be862e96..484f2ab84f 100644
--- a/.docker/ci/Dockerfile
+++ b/.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
diff --git a/.docker/release/Dockerfile b/.docker/release/Dockerfile
index bc8e7b2796..16ae7de119 100644
--- a/.docker/release/Dockerfile
+++ b/.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
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index f4da39a5d6..04671ccf1e 100644
--- a/.github/workflows/ci.yaml
+++ b/.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"
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index ddfa93f93a..542457d8ee 100644
--- a/.github/workflows/format.yaml
+++ b/.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
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 962dc42249..3dd06105d2 100644
--- a/.pre-commit-config.yaml
+++ b/.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']
diff --git a/moveit2.repos b/moveit2.repos
index 71ee4bf3e0..c74e6089ed 100644
--- a/moveit2.repos
+++ b/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
diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
index dff7eb2fc3..1e4063900f 100644
--- a/moveit_kinematics/package.xml
+++ b/moveit_kinematics/package.xml
@@ -35,7 +35,7 @@
urdfdom
- python-lxml
+ python3-lxml
moveit_ros_planning
moveit_resources_fanuc_description
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp
index 2987dfabbd..7e32289394 100644
--- a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp
+++ b/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{ 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{ 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);
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp
index 06eabc333a..385e802b1f 100644
--- a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp
+++ b/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{ 0, M_PI / 2, 0, M_PI / 2, 0, 0 });
rstate.setVariableVelocities(std::vector(rstate.getVariableCount(), 0.0));
moveit::core::robotStateToRobotStateMsg(rstate, req_.start_state, false);
moveit_msgs::msg::Constraints goal_constraint;
diff --git a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp b/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
index 7e32d25d42..d31bab144b 100644
--- a/moveit_ros/manipulation/pick_place/src/approach_and_translate_stage.cpp
+++ b/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;
}
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/parameter_descriptor_builder.hpp b/moveit_ros/moveit_servo/include/moveit_servo/parameter_descriptor_builder.hpp
index 341aa796d8..6977a0d3e2 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/parameter_descriptor_builder.hpp
+++ b/moveit_ros/moveit_servo/include/moveit_servo/parameter_descriptor_builder.hpp
@@ -40,6 +40,7 @@
#include
#include
#include
+#include
#include
namespace moveit_servo
diff --git a/moveit_ros/moveit_servo/test/servo_launch_test_common.hpp b/moveit_ros/moveit_servo/test/servo_launch_test_common.hpp
index 3680e01d00..ad5073cd23 100644
--- a/moveit_ros/moveit_servo/test/servo_launch_test_common.hpp
+++ b/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());
+ stop();
}
executor_->cancel();
if (executor_thread_.joinable())
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
index 46a837d9df..32e48a589f 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
+++ b/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(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();
}
diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml
index 2de19a78d4..07a82d9784 100644
--- a/moveit_ros/visualization/package.xml
+++ b/moveit_ros/visualization/package.xml
@@ -25,7 +25,6 @@
class_loader
eigen
- libogre-dev
libqt5-opengl-dev
qtbase5-dev
diff --git a/moveit_ros/warehouse/warehouse/src/broadcast.cpp b/moveit_ros/warehouse/warehouse/src/broadcast.cpp
index 5a340ae438..eafc03c17a 100644
--- a/moveit_ros/warehouse/warehouse/src/broadcast.cpp
+++ b/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(),
"Host for the "
@@ -80,7 +81,7 @@ int main(int argc, char** argv)
"state", boost::program_options::value(),
"Name of the robot state to publish.")("delay", boost::program_options::value()->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);
diff --git a/moveit_ros/warehouse/warehouse/src/import_from_text.cpp b/moveit_ros/warehouse/warehouse/src/import_from_text.cpp
index c1d56be830..0ca7394679 100644
--- a/moveit_ros/warehouse/warehouse/src/import_from_text.cpp
+++ b/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(),
"Name of file containing motion planning queries.")(
"scene", boost::program_options::value(), "Name of file containing motion planning scene.")(
"host", boost::program_options::value(),
"Host for the DB.")("port", boost::program_options::value(), "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);
diff --git a/moveit_setup_assistant/package.xml b/moveit_setup_assistant/package.xml
index 6f74c84ad9..fb1192ed95 100644
--- a/moveit_setup_assistant/package.xml
+++ b/moveit_setup_assistant/package.xml
@@ -20,7 +20,6 @@
ament_cmake
moveit_common
- libogre-dev
ompl
ament_index_cpp
diff --git a/moveit_setup_assistant/src/collisions_updater.cpp b/moveit_setup_assistant/src/collisions_updater.cpp
index 5264d7872e..35533fa6d9 100644
--- a/moveit_setup_assistant/src/collisions_updater.cpp
+++ b/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);
diff --git a/moveit_setup_assistant/src/setup_assistant_main.cpp b/moveit_setup_assistant/src/setup_assistant_main.cpp
index 7865772c6c..2a22178710 100644
--- a/moveit_setup_assistant/src/setup_assistant_main.cpp
+++ b/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(), "Optional, path to URDF file in ROS package")(
"config_pkg,c", po::value(), "Optional, pass in existing config package to load");
+ // clang-format on
// Process options
po::variables_map vm;
diff --git a/moveit_setup_assistant/src/tools/compute_default_collisions.cpp b/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
index e21eb7eeb1..b6f2cd8fed 100644
--- a/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
+++ b/moveit_setup_assistant/src/tools/compute_default_collisions.cpp
@@ -52,8 +52,8 @@ const boost::unordered_map REASONS_TO_STRING = boos
DEFAULT, "Default")(ADJACENT, "Adjacent")(ALWAYS, "Always")(USER, "User")(NOT_DISABLED, "Not Disabled");
const boost::unordered_map 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");
diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
index 491b5a6d7b..5542eebfeb 100644
--- a/moveit_setup_assistant/src/tools/moveit_config_data.cpp
+++ b/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
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() : default_value;
return valid;
}