Merge branch 'main' into pr-moveit_configs_utils

moveit · Jan 20, 2022 · 56abbeb · 56abbeb
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diff --git a/Doxyfile b/Doxyfile
diff --git a/README.md b/README.md
@@ -35,6 +35,9 @@ See the [MoveItCpp Tutorial](https://moveit.picknik.ai/foxy/doc/moveit_cpp/movei
 The [Move Group C++ Interface](https://moveit.picknik.ai/foxy/doc/move_group_interface/move_group_interface_tutorial.html) provides a simple launch file for running a MoveGroup setup.
 You can test it using the MotionPlanning display in RViz or by implementing your own MoveGroupInterface application.
 
+## Having Doxygen Reference Locally
+See [How To Generate API Doxygen Reference Locally](https://moveit.picknik.ai/main/doc/how_to_guides/how_to_generate_api_doxygen_locally.html)
+
 ## Supporters
 
 This open source project is maintained by supporters from around the world — see [MoveIt maintainers](https://moveit.ros.org/about/). Special thanks to contributor from Intel and Open Robotics.

diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+
 2.3.2 (2021-12-29)
 ------------------
 

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>2.3.2</version>
+  <version>2.4.0</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 +2,11 @@
 Changelog for package moveit_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* Merge https://github.com/ros-planning/moveit/commit/f3ac6070497da90da33551fc1dc3a68938340413
+* Contributors: Abishalini
+
 2.3.2 (2021-12-29)
 ------------------
 

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>2.3.2</version>
+  <version>2.4.0</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_core/CHANGELOG.rst b/moveit_core/CHANGELOG.rst
@@ -2,6 +2,53 @@
 Changelog for package moveit_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* Move background_processing (`#997 <https://github.com/ros-planning/moveit2/issues/997>`_)
+* Fix boost linking errors for Windows (`#957 <https://github.com/ros-planning/moveit2/issues/957>`_)
+* Delete backtrace hack (`#995 <https://github.com/ros-planning/moveit2/issues/995>`_)
+* Use size_t for index variables (`#946 <https://github.com/ros-planning/moveit2/issues/946>`_)
+* Remove moveit_build_options
+* Merge https://github.com/ros-planning/moveit/commit/f3ac6070497da90da33551fc1dc3a68938340413
+* Replace NULL with nullptr (`#961 <https://github.com/ros-planning/moveit2/issues/961>`_)
+  * Fixes `#841 <https://github.com/ros-planning/moveit2/issues/841>`_
+* Merge https://github.com/ros-planning/moveit/commit/a0ee2020c4a40d03a48044d71753ed23853a665d
+* Add jerk to the robot model (`#683 <https://github.com/ros-planning/moveit2/issues/683>`_)
+  * Add jerk to the robot model
+  * Add joint limit parsing to a unit test
+  * Add jerk to computeVariableBoundsMsg and <<, too
+* collision_distance_field: Fix undefined behavior vector insertion (`#942 <https://github.com/ros-planning/moveit2/issues/942>`_)
+* Normalize incoming transforms (`#2920 <https://github.com/ros-planning/moveit2/issues/2920>`_)
+  * Normalize incoming transforms
+  * fixup: adapt comment according to review suggestion
+  Co-authored-by: Michael Görner <me@v4hn.de>
+* Completely silent -Wmaybe-uninitialized
+* Don't fail on -Wmaybe-uninitialized. Needs more analysis!
+* Fix unused-variable warning
+* Silent unused-function warnings
+* Remove unused arguments from global_adjustment_factor()
+  Looks like, dt and x were passed originally to call fit_cubic_spline()
+  inside that function. However, later it was assumed that fit_cubic_spline()
+  was already called, rendering these parameters superfluous.
+* Simplify API: Remove obviously unused arguments
+* clang-tidy: fix unused parameter (critical cases)
+  This warnings should be considered in more detail (TODO).
+  Not using these arguments might be an actual bug.
+* clang-tidy: fix unused parameter (uncritical cases)
+  These parameters aren't used for an obvious reason.
+* moveit_build_options()
+  Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE,
+  and compiler options (namely warning flags) once.
+  Each package depending on moveit_core can use these via moveit_build_options().
+* RobotState: write to correct array (`#2909 <https://github.com/ros-planning/moveit2/issues/2909>`_)
+  Not an actual bug because both arrays share the same memory.
+  As mentioned in https://github.com/ros-planning/moveit2/pull/683#pullrequestreview-780447848
+* fix uninitialized orientation in default shape pose (`#2896 <https://github.com/ros-planning/moveit2/issues/2896>`_)
+* Readability and consistency improvements in TOTG (`#2882 <https://github.com/ros-planning/moveit2/issues/2882>`_)
+  * Use std::fabs() everywhere
+  * Better comments
+* Contributors: Abishalini, Akash, AndyZe, Michael Görner, Robert Haschke, Stephanie Eng, Tyler Weaver, andreas-botbuilt
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -10,9 +10,6 @@ find_package(rclcpp REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-# Finds Boost Components
-include(ConfigExtras.cmake)
-
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
 # replace LIBFCL_LIBRARIES with full paths to the libraries
@@ -52,11 +49,13 @@ find_package(pluginlib REQUIRED)
 # TODO: Port python bindings
 # find_package(pybind11 REQUIRED)
 
+# Finds Boost Components
+include(ConfigExtras.cmake)
+
 # Set target file path for version.h
 set(VERSION_FILE_PATH ${CMAKE_BINARY_DIR}/include)
 
 set(THIS_PACKAGE_INCLUDE_DIRS
-    background_processing/include
     exceptions/include
     collision_detection/include
     collision_detection_fcl/include
@@ -87,7 +86,6 @@ set(THIS_PACKAGE_INCLUDE_DIRS
 )
 
 set(THIS_PACKAGE_LIBRARIES
-    moveit_background_processing
     moveit_butterworth_filter
     moveit_collision_distance_field
     moveit_collision_detection
@@ -157,7 +155,6 @@ message(STATUS " *** Building MoveIt ${MOVEIT_VERSION} ***")
 configure_file("version/version.h.in" "${VERSION_FILE_PATH}/moveit/version.h")
 install(FILES "${VERSION_FILE_PATH}/moveit/version.h" DESTINATION include/moveit)
 
-add_subdirectory(background_processing)
 add_subdirectory(collision_distance_field)
 add_subdirectory(constraint_samplers)
 add_subdirectory(controller_manager)

diff --git a/moveit_core/background_processing/CMakeLists.txt b/moveit_core/background_processing/CMakeLists.txt
diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt
@@ -16,7 +16,6 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   tf2_eigen
   OCTOMAP
 )
-target_link_libraries(${MOVEIT_LIB_NAME} Boost::iostreams)
 
 install(DIRECTORY include/ DESTINATION include)
 

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>2.3.2</version>
+  <version>2.4.0</version>
   <description>Core libraries used by MoveIt</description>
 
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>

diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt
@@ -14,7 +14,7 @@ install(DIRECTORY include/ DESTINATION include)
 find_package(ament_index_cpp REQUIRED)
 set(MOVEIT_TEST_LIB_NAME moveit_test_utils)
 add_library(${MOVEIT_TEST_LIB_NAME} SHARED src/robot_model_test_utils.cpp)
-target_link_libraries(${MOVEIT_TEST_LIB_NAME} moveit_robot_model Boost::regex)
+target_link_libraries(${MOVEIT_TEST_LIB_NAME} moveit_robot_model)
 ament_target_dependencies(${MOVEIT_TEST_LIB_NAME}
   ament_index_cpp
   Boost

diff --git a/moveit_kinematics/CHANGELOG.rst b/moveit_kinematics/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package moveit_kinematics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* Fix IKFast test dependency (`#993 <https://github.com/ros-planning/moveit2/issues/993>`_)
+* Replace NULL with nullptr (`#961 <https://github.com/ros-planning/moveit2/issues/961>`_)
+  * Fixes `#841 <https://github.com/ros-planning/moveit2/issues/841>`_
+* moveit_build_options()
+  Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE,
+  and compiler options (namely warning flags) once.
+  Each package depending on moveit_core can use these via moveit_build_options().
+* Contributors: Henning Kayser, Robert Haschke, Stephanie Eng
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/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_kinematics</name>
-  <version>2.3.2</version>
+  <version>2.4.0</version>
   <description>Package for all inverse kinematics solvers in MoveIt</description>
 
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>

diff --git a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package chomp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* moveit_build_options()
+  Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE,
+  and compiler options (namely warning flags) once.
+  Each package depending on moveit_core can use these via moveit_build_options().
+* Contributors: Robert Haschke
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_planners/chomp/chomp_interface/package.xml b/moveit_planners/chomp/chomp_interface/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_planners_chomp</name>
-  <version>2.3.2</version>
+  <version>2.4.0</version>
   <description>The interface for using CHOMP within MoveIt</description>
 
   <maintainer email="chitt@live.in">Chittaranjan Srinivas Swaminathan</maintainer>

diff --git a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package chomp_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* Replace NULL with nullptr (`#961 <https://github.com/ros-planning/moveit2/issues/961>`_)
+  * Fixes `#841 <https://github.com/ros-planning/moveit2/issues/841>`_
+* moveit_build_options()
+  Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE,
+  and compiler options (namely warning flags) once.
+  Each package depending on moveit_core can use these via moveit_build_options().
+* Contributors: Robert Haschke, Stephanie Eng
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_planners/chomp/chomp_motion_planner/package.xml b/moveit_planners/chomp/chomp_motion_planner/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>chomp_motion_planner</name>
-  <version>2.3.2</version>
+  <version>2.4.0</version>
   <description>chomp_motion_planner</description>
 
   <maintainer email="chitt@live.in">Chittaranjan Srinivas Swaminathan</maintainer>

diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst b/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package moveit_chomp_optimizer_adapter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* moveit_build_options()
+  Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE,
+  and compiler options (namely warning flags) once.
+  Each package depending on moveit_core can use these via moveit_build_options().
+* Contributors: Robert Haschke
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
   <name>moveit_chomp_optimizer_adapter</name>
   <description>MoveIt planning request adapter utilizing chomp for solution optimization</description>
-  <version>2.3.2</version>
+  <version>2.4.0</version>
   <maintainer email="raghavendersahdev@gmail.com">Raghavender Sahdev</maintainer>
   <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
 

diff --git a/moveit_planners/moveit_planners/CHANGELOG.rst b/moveit_planners/moveit_planners/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_planners
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/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_planners</name>
-  <version>2.3.2</version>
+  <version>2.4.0</version>
   <description>Meta package that installs all available planners for MoveIt</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>

diff --git a/moveit_planners/ompl/CHANGELOG.rst b/moveit_planners/ompl/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package moveit_planners_ompl
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* moveit_build_options()
+  Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE,
+  and compiler options (namely warning flags) once.
+  Each package depending on moveit_core can use these via moveit_build_options().
+* Contributors: Robert Haschke
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/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_planners_ompl</name>
-  <version>2.3.2</version>
+  <version>2.4.0</version>
   <description>MoveIt interface to OMPL</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>

diff --git a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package pilz_industrial_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* Remove 'using namespace' from header files. (`#994 <https://github.com/ros-planning/moveit2/issues/994>`_)
+* Fix missing ament_cmake_gtest dependency (`#981 <https://github.com/ros-planning/moveit2/issues/981>`_)
+* Remove some Maintainers from Pilz Planner (`#971 <https://github.com/ros-planning/moveit2/issues/971>`_)
+* Fix usage of boost placeholder (`#958 <https://github.com/ros-planning/moveit2/issues/958>`_)
+* Merge https://github.com/ros-planning/moveit/commit/a0ee2020c4a40d03a48044d71753ed23853a665d
+* Remove '-W*' options from cmake files (`#2903 <https://github.com/ros-planning/moveit2/issues/2903>`_)
+* Add test for pilz planner with attached objects (`#2878 <https://github.com/ros-planning/moveit2/issues/2878>`_)
+  * Add test case for `#2824 <https://github.com/ros-planning/moveit2/issues/2824>`_
+  Co-authored-by: Cristian Beltran <cristianbehe@gmail.com>
+  Co-authored-by: Joachim Schleicher <joachimsl@gmx.de>
+  Co-authored-by: jschleicher <j.schleicher@pilz.de>
+* Contributors: Abishalini, Cory Crean, Leroy Rügemer, Tyler Weaver, Wolf Vollprecht, cambel, jschleicher
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/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>pilz_industrial_motion_planner</name>
-  <version>2.3.2</version>
+  <version>2.4.0</version>
   <description>MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof.</description>
 
   <maintainer email="c.henkel@pilz.de">Christian Henkel</maintainer>

diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package pilz_industrial_motion_planner_testutils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* Remove some Maintainers from Pilz Planner (`#971 <https://github.com/ros-planning/moveit2/issues/971>`_)
+* Remove '-W*' options from cmake files (`#2903 <https://github.com/ros-planning/moveit2/issues/2903>`_)
+* Contributors: Leroy Rügemer, jschleicher
+
 2.3.2 (2021-12-29)
 ------------------
 

diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml b/moveit_planners/pilz_industrial_motion_planner_testutils/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>pilz_industrial_motion_planner_testutils</name>
-  <version>2.3.2</version>
+  <version>2.4.0</version>
   <description>Helper scripts and functionality to test industrial motion generation</description>
 
   <maintainer email="c.henkel@pilz.de">Christian Henkel</maintainer>

diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package moveit_resources_prbt_ikfast_manipulator_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-01-20)
+------------------
+* Replace NULL with nullptr (`#961 <https://github.com/ros-planning/moveit2/issues/961>`_)
+  * Fixes `#841 <https://github.com/ros-planning/moveit2/issues/841>`_
+* Contributors: Stephanie Eng
+
 2.3.2 (2021-12-29)
 ------------------