Merge branch 'main' into andyz/servo_realtime_update

moveit · Jan 9, 2023 · 4bcb403 · 4bcb403
2 parents 1407fda + 165bf03
commit 4bcb403
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -17,6 +17,7 @@ Overview of your issue here.
 * Source or Binary build?
 * If binary, which release version?
 * If source, which branch?
+* Which RMW (Fast DDS or Cyclone DDS)? Humble or Rolling should be using Cyclone.
 
 ### Steps to reproduce
 Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -21,8 +21,7 @@ jobs:
             ROS_DISTRO: rolling
           - IMAGE: rolling-ci-testing
             ROS_DISTRO: rolling
-            # Disabled: https://github.com/ros-planning/moveit2/issues/1773
-            # IKFAST_TEST: true
+            IKFAST_TEST: true
             CLANG_TIDY: pedantic
           - IMAGE: humble-ci
             ROS_DISTRO: humble

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py b/moveit_kinematics/ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py
@@ -1,8 +1,6 @@
 #! /usr/bin/env python
 from __future__ import print_function
 
-from symbol import parameters
-
 """
 IKFast Plugin Generator for MoveIt
 

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -51,7 +51,6 @@
 #include <moveit/common_planning_interface_objects/common_objects.h>
 #include <moveit/robot_state/conversions.h>
 #include <moveit_msgs/action/execute_trajectory.hpp>
-#include <moveit_msgs/srv/execute_known_trajectory.hpp>
 #include <moveit_msgs/srv/query_planner_interfaces.hpp>
 #include <moveit_msgs/srv/get_cartesian_path.hpp>
 #include <moveit_msgs/srv/grasp_planning.hpp>