Update moveit2.repos

moveit2.repos

@@ -7,52 +7,25 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_msgs
     version: ros2
-  joint_state_publisher:
-    type: git
-    url: https://github.com/ros/joint_state_publisher
-    version: ros2
-  random_numbers:
-    type: git
-    url: https://github.com/ros-planning/random_numbers
-    version: ros2
-  urdf_parser_py:
-    type: git
-    url: https://github.com/ros/urdf_parser_py
-    version: ros2
   moveit_resources:
     type: git
     url: https://github.com/ros-planning/moveit_resources
     version: ros2
-# TODO(henningkayser): switch to upstream when https://github.com/ros-planning/geometric_shapes/pull/153 is merged
   geometric_shapes:
     type: git
-    url: https://github.com/henningkayser/geometric_shapes
+    url: https://github.com/ros-planning/geometric_shapes
     version: ros2
   srdfdom:
     type: git
     url: https://github.com/PickNikRobotics/srdfdom
     version: ros2
-  octomap_msgs:
-    type: git
-    url: https://github.com/OctoMap/octomap_msgs
-    version: ros2
-
-# Dependencies with pending PRs
-  object_recognition_msgs:
-    type: git
-    # TODO(henningkayser): use upstream version once #8 is merged
-    # url: https://github.com/wg-perception/object_recognition_msgs
-    # version: ros2
-    url: https://github.com/PickNikRobotics/object_recognition_msgs
-    version: master
 
-# Temporarily install OMPL from melodic
-# TODO(henningkayser): remove once OMPL is released for ROS2 Foxy
-  ompl:
+# TODO(#242): Remove below once console_bridge conflict is resolved
+  urdfdom:
     type: git
-    url: https://github.com/ros-gbp/ompl-release.git
-    version: release/foxy/ompl
-  octomap:
+    url: https://github.com/ros2/urdfdom
+    version: foxy
+  urdfdom_headers:
     type: git
-    url: https://github.com/ros-gbp/octomap-release.git
-    version: release/eloquent/octomap/1.9.3-1
+    url: https://github.com/ros/urdfdom_headers
+    version: foxy