Merge branch 'main' into pr-fix_ikfast

moveit · May 22, 2023 · 7c2df26 · 7c2df26
2 parents 20f4cd9 + 2a5a80d
commit 7c2df26
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diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -49,6 +49,8 @@ jobs:
       # Changing linker to lld as ld has a behavior where it takes a long time to finish
       # Compile CCOV with Debug. Enable -Werror.
       TARGET_CMAKE_ARGS: >
+        --no-warn-unused-cli
+        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
         -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
@@ -162,6 +164,16 @@ jobs:
         if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info
+      - name: Install sonar-scanner and build-wrapper
+        if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
+        uses: SonarSource/sonarcloud-github-c-cpp@v1
+      - name: Run sonar-scanner
+        if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+        run: sonar-scanner -X --define project.settings=.work/target_ws/src/moveit2/sonar-project.properties
+        working-directory: ${{ github.workspace }}
       - name: Upload clang-tidy changes
         uses: rhaschke/upload-git-patch-action@main
         if: always() && matrix.env.CLANG_TIDY

diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 

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>2.7.3</version>
+  <version>2.7.4</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 * Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (`#2135 <https://github.com/ros-planning/moveit2/issues/2135>`_)

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>2.7.3</version>
+  <version>2.7.4</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 +2,13 @@
 Changelog for package moveit_configs_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+* Parse xacro args from .setup_assistant config in MoveIt Configs Builder (`#2172 <https://github.com/ros-planning/moveit2/issues/2172>`_)
+  Co-authored-by: Jafar <jafar.uruc@gmail.com>
+* Update default planning configs to use AddTimeOptimalParameterization (`#2167 <https://github.com/ros-planning/moveit2/issues/2167>`_)
+* Contributors: Anthony Baker
+
 2.7.3 (2023-04-24)
 ------------------
 

diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
@@ -162,6 +162,7 @@ def __init__(
 
         self.__urdf_package = None
         self.__urdf_file_path = None
+        self.__urdf_xacro_args = None
         self.__srdf_file_path = None
 
         modified_urdf_path = Path("config") / (self.__robot_name + ".urdf.xacro")
@@ -179,6 +180,11 @@ def __init__(
                 )
                 self.__urdf_file_path = Path(urdf_config["relative_path"])
 
+                if (xacro_args := urdf_config.get("xacro_args")) is not None:
+                    self.__urdf_xacro_args = dict(
+                        arg.split(":=") for arg in xacro_args.split(" ") if arg
+                    )
+
             srdf_config = config.get("srdf", config.get("SRDF"))
             if srdf_config:
                 self.__srdf_file_path = Path(srdf_config["relative_path"])
@@ -224,7 +230,8 @@ def robot_description(
             try:
                 self.__moveit_configs.robot_description = {
                     self.__robot_description: load_xacro(
-                        robot_description_file_path, mappings=mappings
+                        robot_description_file_path,
+                        mappings=mappings or self.__urdf_xacro_args,
                     )
                 }
             except ParameterBuilderFileNotFoundError as e:

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>2.7.3</version>
+  <version>2.7.4</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="2.7.3",
+    version="2.7.4",
     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 +2,33 @@
 Changelog for package moveit_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+* Add documentation and cleanups for PlanningRequestAdapter and PlanningRequestAdapterChain classes (`#2142 <https://github.com/ros-planning/moveit2/issues/2142>`_)
+  * Cleanups
+  * Add documentation and more cleanups
+  * Revert size_t change
+* Fix collision checking in VisibilityConstraint (`#1986 <https://github.com/ros-planning/moveit2/issues/1986>`_)
+* Alphabetize, smart pointer not needed (`#2148 <https://github.com/ros-planning/moveit2/issues/2148>`_)
+  * Alphabetize, smart pointer not needed
+  * Readability
+* Fix getting variable bounds in mimic joints for TOTG (`#2030 <https://github.com/ros-planning/moveit2/issues/2030>`_)
+  * Fix getting variable bounds in mimic joints for TOTG
+  * Formatting
+  * Remove unnecessary code
+  * Do not include mimic joints in timing calculations
+  * Change joint variable bounds at mimic creation time
+  * Braces take you places
+  * Fix other single-line if-else without braces in file for clang_tidy
+  * Remove mimic bounds modification
+  * Variable renaming and a comment
+  * Fix index naming
+  ---------
+  Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
+  Co-authored-by: Jafar <cafer.abdi@gmail.com>
+  Co-authored-by: AndyZe <andyz@utexas.edu>
+* Contributors: AndyZe, Joseph Schornak, Sebastian Castro, Sebastian Jahr
+
 2.7.3 (2023-04-24)
 ------------------
 

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>2.7.3</version>
+  <version>2.7.4</version>
   <description>Core libraries used by MoveIt</description>
 
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>

diff --git a/moveit_kinematics/CHANGELOG.rst b/moveit_kinematics/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_kinematics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -151,6 +151,8 @@ struct LimitObeyingSol
 // Code generated by IKFast56/61
 #include "_ROBOT_NAME___GROUP_NAME__ikfast_solver.cpp"
 
+static const rclcpp::Logger LOGGER = rclcpp::get_logger("_ROBOT_NAME___GROUP_NAME__ikfast_solver");
+
 class IKFastKinematicsPlugin : public kinematics::KinematicsBase
 {
   std::vector<std::string> joint_names_;
@@ -182,7 +184,6 @@ class IKFastKinematicsPlugin : public kinematics::KinematicsBase
   Eigen::Isometry3d group_tip_to_chain_tip_;
 
   bool initialized_;  // Internal variable that indicates whether solvers are configured and ready
-  const rclcpp::Logger LOGGER = rclcpp::get_logger("_ROBOT_NAME___GROUP_NAME__ikfast_solver");
 
   const std::vector<std::string>& getJointNames() const override
   {

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>2.7.3</version>
+  <version>2.7.4</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 +2,9 @@
 Changelog for package chomp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 <https://github.com/ros-planning/moveit2/issues/2020>`_)

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>2.7.3</version>
+  <version>2.7.4</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 +2,9 @@
 Changelog for package chomp_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 <https://github.com/ros-planning/moveit2/issues/2020>`_)

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>2.7.3</version>
+  <version>2.7.4</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 +2,9 @@
 Changelog for package moveit_chomp_optimizer_adapter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 <https://github.com/ros-planning/moveit2/issues/2020>`_)

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>2.7.3</version>
+  <version>2.7.4</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 +2,15 @@
 Changelog for package moveit_planners
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+* Migrate STOMP from ros-planning/stomp_moveit (`#2158 <https://github.com/ros-planning/moveit2/issues/2158>`_)
+* Migrate stomp_moveit into moveit_planners
+  * Move package into moveit_planners subdirectory
+  * Rename stomp_moveit package to moveit_planners_stomp
+  * List moveit_planners_stomp as package dependency
+* Contributors: Henning Kayser
+
 2.7.3 (2023-04-24)
 ------------------
 

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>2.7.3</version>
+  <version>2.7.4</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 +2,18 @@
 Changelog for package moveit_planners_ompl
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+* Fix Constraint Planning Segfault (`#2130 <https://github.com/ros-planning/moveit2/issues/2130>`_)
+  * Fix Constraint Planning Segfault
+  * Reuse planner data
+  * apply clang formatting
+  * apply clang formatting round 2
+  * add FIXME note and verbose output of planning graph size
+  ---------
+  Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
+* Contributors: Marq Rasmussen
+
 2.7.3 (2023-04-24)
 ------------------
 * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 <https://github.com/ros-planning/moveit2/issues/2020>`_)

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>2.7.3</version>
+  <version>2.7.4</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 +2,9 @@
 Changelog for package pilz_industrial_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 <https://github.com/ros-planning/moveit2/issues/2020>`_)

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>2.7.3</version>
+  <version>2.7.4</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 +2,9 @@
 Changelog for package pilz_industrial_motion_planner_testutils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 <https://github.com/ros-planning/moveit2/issues/2020>`_)

diff --git a/...al_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h b/...al_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h
@@ -28,7 +28,7 @@
 
 namespace testing
 {
-const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.pilz_industrial_motion_planner.async_test");
+static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.pilz_industrial_motion_planner.async_test");
 /**
  * @brief Test class that allows the handling of asynchronous test objects
  *

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>2.7.3</version>
+  <version>2.7.4</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/stomp/CHANGELOG.rst b/moveit_planners/stomp/CHANGELOG.rst
@@ -0,0 +1,15 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_planners_stomp
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.7.4 (2023-05-18)
+------------------
+* Migrate STOMP from ros-planning/stomp_moveit (`#2158 <https://github.com/ros-planning/moveit2/issues/2158>`_)
+* Fix clang-tidy warnings
+* Improve Documentation and Readability
+* Remove MVT example
+* Migrate stomp_moveit into moveit_planners
+  * Move package into moveit_planners subdirectory
+  * Rename stomp_moveit package to moveit_planners_stomp
+  * List moveit_planners_stomp as package dependency
+* Contributors: Henning Kayser
diff --git a/moveit_planners/stomp/package.xml b/moveit_planners/stomp/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_stomp</name>
-  <version>0.0.1</version>
+  <version>2.7.4</version>
   <description>STOMP Motion Planner for MoveIt</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <license>BSD-3-Clause</license>

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 +2,9 @@
 Changelog for package moveit_resources_prbt_ikfast_manipulator_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2023-05-18)
+------------------
+
 2.7.3 (2023-04-24)
 ------------------
 * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 <https://github.com/ros-planning/moveit2/issues/2020>`_)