loading one yaml param

Increase priority for constrained planning state space (moveit#1300) * Change priority for the constrained planning state space * Fix constrained planning tests * Use PRM instead of RRTConnect --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Remove "new" from smart pointer instantiation (moveit#2019) Temporarily disable TestPathConstraints with the Panda robot (moveit#2016) This test has become flaky since it was modified to use the OMPL constrained state space (moveit#2015). Fix mimic joints with TOTG (moveit#1989) Fix include install destination (moveit#2008) Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Co-authored-by: Tyler Weaver <maybe@tylerjw.dev> Ruckig-smoothing : reduce number of duration extensions (moveit#1990) * extend duration only for failed segment * update comment * Remove trajectory reset before extension * readability improvement * Remove call to RobotState update --------- Co-authored-by: ibrahiminfinite <ibrahimjkd@@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Add stale GHA (moveit#2022) * Issues and PRs are labeled as stale after 45 days. * Stale issues are closed after another 45 days. Enable workflow_dispatch for stale GHA Remove invalid description field in GHA Add callback for velocity scaling override + fix params namespace not being set (moveit#2021) Fix python tests (moveit#1979) * ensure joint models in robot_model submodule * add build tests Upgrade apt dependencies --with-new-pkgs (moveit#2039) 2.7.1 🛠️ Bump actions/stale from 7 to 8 (moveit#2037) Allow ci-testing Dockerfile to update the ROS_DISTRO (moveit#2035) Move displaced launch file into planning_component_tools (moveit#2044) Delete the Ruckig "batches" option, deprecated by moveit#1990 (moveit#2028) Added set_robot_trajectory_msg to python bindings (moveit#2050) Use $DISPLAY rather than assuming :0 (moveit#2049) * Use $DISPLAY rather than assuming : * Double quotes --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Optionally mitigate Ruckig overshoot (moveit#2051) * Optionally mitigate Ruckig overshoot * Cleanup Update description of moveit_ros_planning_interface (moveit#2045) * Update description of moveit_ros_planning_interface * Update moveit_ros/planning_interface/package.xml Co-authored-by: Henning Kayser <henningkayser@picknik.ai> --------- Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Add URDF Loader Exceptions and Fix Infinite While-Loop when URDF file isn't in a ROS Package (moveit#2032) * Fixed infinite while loop in utilities.cpp and added some exception handling to start screen widget * Fix trailing whitespace, fix getSharePath exception catch on empty request * Fix clang tidy suggestion and error message updates based on pr comments [hybrid planning] improve planning scene monitoring (moveit#1090) * Create new PSM in local constraint solver. Different type of collision checking. * Small boolean logic fixup * Don't configure planning scene monitor twice and pass scene as const * Remove not required call of updateSceneWithCurrentState() * Revert PlanningSceneMonitorConstPtr to PlanningSceneMonitorPtr * Set planning_scene_monitor update rate * Decrease planning scene update rate * Use `updateSceneWithCurrentState()` in psm * Revert the manner of collision checking --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Document how collision checking includes descendent links (moveit#2058) Move stateless PlanningScene helper functions out of the class (moveit#2025) Readability: kinematic_state -> robot_state (moveit#2078) moveit_py citation (moveit#2029) Extract parallel planning from moveit cpp (moveit#2043) * Add parallel_planning_interface * Add parallel planning interface * Rename package to pipeline_planning_interface * Move plan_responses_container into own header + source file * Add plan_responses_contrainer source file * Add solution selection and stopping criterion function files * Remove parallel planning from moveit_cpp * Move parallel planning into planning package * Update moveit_cpp * Drop planning_interface changes * Add documentation * Update other moveit packages * Remove removed header * Address CI complains * Address clang-tidy complains * Address clang-tidy complains 2 * Address clang-tidy complains 3 * Extract planning pipeline map creation function from moveit_cpp * Cleanup comment * Use const moveit::core::RobotModelConstPtr& * Formatting * Add header descriptions * Remove superfluous TODOs * Cleanup PILZ: Throw if IK solver doesn't exist (moveit#2082) * Throw if IK solver doesn't exist * Format enabled -wformat (moveit#2065) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Add test and debug issue where TOTG returns accels > limit (moveit#2084) lint fix lint fix 1 lint fix 2 lint fix 3
abhijelly · Apr 9, 2023 · afc1791 · afc1791
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diff --git a/.docker/ci-testing/Dockerfile b/.docker/ci-testing/Dockerfile
@@ -1,12 +1,20 @@
-# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci-testing
+# ghcr.io/ros-planning/moveit2:${OUR_ROS_DISTRO}-ci-testing
 # CI image using the ROS testing repository
 
-ARG ROS_DISTRO=rolling
 FROM osrf/ros2:testing
 LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 ENV TERM xterm
 
+# Overwrite the ROS_DISTRO set in osrf/ros2:testing to the distro tied to this Dockerfile (OUR_ROS_DISTRO).
+# In case ROS_DISTRO is now different from what was set in osrf/ros2:testing, run `rosdep update` again
+# to get any missing dependencies.
+# https://docs.docker.com/engine/reference/builder/#using-arg-variables explains why ARG and ENV can't have
+# the same name (ROS_DISTRO is an ENV in the osrf/ros2:testing image).
+ARG OUR_ROS_DISTRO=rolling
+ENV ROS_DISTRO=${OUR_ROS_DISTRO}
+RUN rosdep update --rosdistro $ROS_DISTRO
+
 # Install ROS 2 base packages and build tools
 # We are installing ros-<distro>-ros-base here to mimic the behavior of the ros:<distro>-ros-base images.
 # This step is split into a separate layer so that we can rely on cached dependencies instead of having

diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
@@ -18,7 +18,7 @@ COPY . src/moveit2
 RUN \
     # Update apt package list as previous containers clear the cache
     apt-get -q update && \
-    apt-get -q -y upgrade && \
+    apt-get -q -y upgrade --with-new-pkgs && \
     #
     # Install some base dependencies
     apt-get -q install --no-install-recommends -y \

diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
@@ -131,7 +131,7 @@ jobs:
         uses: docker/build-push-action@v4
         with:
           file: .docker/${{ github.job }}/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: OUR_ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
           no-cache: true
           tags: |

diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
@@ -0,0 +1,26 @@
+name: 'Stale issues and PRs'
+on:
+  workflow_dispatch:
+  schedule:
+    # UTC noon every workday
+    - cron: '0 12 * * MON-FRI'
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+    steps:
+      - uses: actions/stale@v8
+        with:
+          stale-issue-label: 'stale'
+          stale-pr-label: 'stale'
+          stale-issue-message: 'This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.'
+          close-issue-message: 'This issue was closed because it has been stalled for 45 days with no activity.'
+          stale-pr-message: 'This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.'
+          days-before-stale: 45
+          days-before-close: 45
+          days-before-pr-close: -1
+          exempt-all-milestones: true
+          exempt-issue-labels: good first issue,persistent,release,roadmap,Epic
diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.1 (2023-03-23)
+------------------
+
 2.7.0 (2023-01-29)
 ------------------
 * Fix BSD license in package.xml (`#1796 <https://github.com/ros-planning/moveit2/issues/1796>`_)

diff --git a/moveit/package.xml b/moveit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit</name>
-  <version>2.7.0</version>
+  <version>2.7.1</version>
   <description>Meta package that contains all essential packages of MoveIt 2</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>

diff --git a/moveit_common/CHANGELOG.rst b/moveit_common/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.1 (2023-03-23)
+------------------
+
 2.7.0 (2023-01-29)
 ------------------
 * Fix BSD license in package.xml (`#1796 <https://github.com/ros-planning/moveit2/issues/1796>`_)

diff --git a/moveit_common/cmake/moveit_package.cmake b/moveit_common/cmake/moveit_package.cmake
@@ -44,7 +44,7 @@ macro(moveit_package)
   if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
     # Enable warnings
     add_compile_options(-Wall -Wextra
-      -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wcast-qual -Wold-style-cast)
+      -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wcast-qual -Wold-style-cast -Wformat=2)
   else()
     # Defaults for Microsoft C++ compiler
     add_compile_options(/W3 /wd4251 /wd4068 /wd4275)

diff --git a/moveit_common/package.xml b/moveit_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_common</name>
-  <version>2.7.0</version>
+  <version>2.7.1</version>
   <description>Common support functionality used throughout MoveIt</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>

diff --git a/moveit_configs_utils/CHANGELOG.rst b/moveit_configs_utils/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_configs_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.1 (2023-03-23)
+------------------
+
 2.7.0 (2023-01-29)
 ------------------
 * feat: adds compatibility to robot_description from topic instead of parameter (`#1806 <https://github.com/ros-planning/moveit2/issues/1806>`_)

diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py
@@ -1,3 +1,5 @@
+import os
+
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
@@ -237,7 +239,7 @@ def generate_move_group_launch(moveit_config):
         parameters=move_group_params,
         extra_debug_args=["--debug"],
         # Set the display variable, in case OpenGL code is used internally
-        additional_env={"DISPLAY": ":0"},
+        additional_env={"DISPLAY": os.environ["DISPLAY"]},
     )
     return ld
 

diff --git a/moveit_configs_utils/package.xml b/moveit_configs_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_configs_utils</name>
-  <version>2.7.0</version>
+  <version>2.7.1</version>
   <description>Python library for loading moveit config parameters in launch files</description>
   <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/moveit_configs_utils/setup.py b/moveit_configs_utils/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version="2.5.3",
+    version="2.7.1",
     packages=find_packages(),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/moveit_core/CHANGELOG.rst b/moveit_core/CHANGELOG.rst
@@ -2,6 +2,36 @@
 Changelog for package moveit_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.1 (2023-03-23)
+------------------
+* Ruckig-smoothing : reduce number of  duration extensions (`#1990 <https://github.com/ros-planning/moveit2/issues/1990>`_)
+  * extend duration only for failed segment
+  * update comment
+  * Remove trajectory reset before extension
+  * readability improvement
+  * Remove call to RobotState update
+  ---------
+  Co-authored-by: ibrahiminfinite <ibrahimjkd@@gmail.com>
+  Co-authored-by: AndyZe <andyz@utexas.edu>
+* Fix mimic joints with TOTG (`#1989 <https://github.com/ros-planning/moveit2/issues/1989>`_)
+* changed C style cast to C++ style cast for void type (`#2010 <https://github.com/ros-planning/moveit2/issues/2010>`_)
+  (void) -> static_cast<void>
+* Fix member naming (`#1949 <https://github.com/ros-planning/moveit2/issues/1949>`_)
+  * Update clang-tidy rules for readability-identifier-naming
+  Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
+* Fix Ruckig termination condition (`#1963 <https://github.com/ros-planning/moveit2/issues/1963>`_)
+* Fix ci-testing build issues (`#1998 <https://github.com/ros-planning/moveit2/issues/1998>`_)
+* Fix invalid case style for private member in RobotTrajectory
+* Fix unreachable child logger instance
+* Document the Butterworth filter better (`#1961 <https://github.com/ros-planning/moveit2/issues/1961>`_)
+* Merge pull request `#1546 <https://github.com/ros-planning/moveit2/issues/1546>`_ from peterdavidfagan/moveit_py
+  Python Bindings - moveit_py
+* remove old python bindings
+* remove underscore from public member in MotionPlanResponse (`#1939 <https://github.com/ros-planning/moveit2/issues/1939>`_)
+  * remove underscore from private members
+  * fix more uses of the suffix notation
+* Contributors: AlexWebb, AndyZe, Henning Kayser, Jafar, Robert Haschke, Sebastian Castro, Shobuj Paul, V Mohammed Ibrahim, peterdavidfagan
+
 2.7.0 (2023-01-29)
 ------------------
 * Merge PR `#1712 <https://github.com/ros-planning/moveit2/issues/1712>`_: fix clang compiler warnings + stricter CI

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -197,7 +197,7 @@ struct CollisionRequest
   {
   }
 
-  /** \brief The group name to check collisions for (optional; if empty, assume the complete robot) */
+  /** \brief The group name to check collisions for (optional; if empty, assume the complete robot). Descendent links are included. */
   std::string group_name;
 
   /** \brief If true, compute proximity distance */
@@ -254,7 +254,9 @@ struct DistanceRequest
   {
   }
 
-  /// Compute \e active_components_only_ based on \e req_
+  /*** \brief Compute \e active_components_only_ based on \e req_. This
+      includes links that are in the kinematic model but outside this group, if those links are descendants of
+      joints in this group that have their values updated. */
   void enableGroup(const moveit::core::RobotModelConstPtr& robot_model)
   {
     if (robot_model->hasJointModelGroup(group_name))

diff --git a/moveit_core/package.xml b/moveit_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_core</name>
-  <version>2.7.0</version>
+  <version>2.7.1</version>
   <description>Core libraries used by MoveIt</description>
 
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>

diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt
@@ -1,4 +1,6 @@
-add_library(moveit_planning_scene SHARED src/planning_scene.cpp)
+add_library(moveit_planning_scene SHARED
+  src/planning_scene.cpp
+)
 target_include_directories(moveit_planning_scene PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/moveit_core>