From bdc9cec35bceb88b1ada4d7968d9336401bcd660 Mon Sep 17 00:00:00 2001 From: Shobuj Paul <72087882+Shobuj-Paul@users.noreply.github.com> Date: Sun, 13 Aug 2023 02:47:37 +0530 Subject: [PATCH 1/2] Replaced boost::algorithm::join with fmt::join (#2273) * Replaced boost::algorithm::join with fmt::join * Made changes in CMakeLists.txt to accomodate fmt * Updated package.xml files * removed redundant boost dependencies * Rename variables -> variable --------- Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Sebastian Jahr --- moveit_ros/move_group/CMakeLists.txt | 5 +++-- moveit_ros/move_group/package.xml | 1 + moveit_ros/move_group/src/list_capabilities.cpp | 4 ++-- moveit_ros/planning/CMakeLists.txt | 1 + moveit_ros/planning/package.xml | 1 + .../planning/planning_pipeline/src/planning_pipeline.cpp | 6 +++--- moveit_ros/planning/planning_scene_monitor/CMakeLists.txt | 4 ++-- .../planning_scene_monitor/src/planning_scene_monitor.cpp | 4 ++-- moveit_ros/warehouse/CMakeLists.txt | 4 +++- moveit_ros/warehouse/package.xml | 1 + moveit_ros/warehouse/src/save_to_warehouse.cpp | 4 ++-- .../include/moveit_setup_app_plugins/launch_bundle.hpp | 4 ++-- .../moveit_setup_core_plugins/src/configuration_files.cpp | 2 +- .../moveit_setup_framework/CMakeLists.txt | 2 ++ .../include/moveit_setup_framework/templates.hpp | 2 +- moveit_setup_assistant/moveit_setup_framework/package.xml | 1 + .../moveit_setup_framework/src/templates.cpp | 4 ++-- .../moveit_setup_framework/src/urdf_config.cpp | 4 ++-- 18 files changed, 32 insertions(+), 22 deletions(-) diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index b59830d91e..5e52563b90 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -9,6 +9,7 @@ moveit_package() include(ConfigExtras.cmake) set(THIS_PACKAGE_INCLUDE_DEPENDS + fmt ament_cmake moveit_core moveit_ros_occupancy_map_monitor @@ -64,8 +65,8 @@ ament_target_dependencies(move_group ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) target_link_libraries(move_group moveit_move_group_capabilities_base) add_executable(list_move_group_capabilities src/list_capabilities.cpp) -ament_target_dependencies(list_move_group_capabilities ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) -target_link_libraries(list_move_group_capabilities moveit_move_group_capabilities_base) +ament_target_dependencies(list_move_group_capabilities ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(list_move_group_capabilities moveit_move_group_capabilities_base fmt) install( TARGETS diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml index e2ede13aa5..02a41b51e1 100644 --- a/moveit_ros/move_group/package.xml +++ b/moveit_ros/move_group/package.xml @@ -31,6 +31,7 @@ tf2 tf2_geometry_msgs tf2_ros + fmt moveit_kinematics diff --git a/moveit_ros/move_group/src/list_capabilities.cpp b/moveit_ros/move_group/src/list_capabilities.cpp index 455217d506..78ff926dd5 100644 --- a/moveit_ros/move_group/src/list_capabilities.cpp +++ b/moveit_ros/move_group/src/list_capabilities.cpp @@ -36,7 +36,7 @@ #include #include -#include +#include int main(int /*argc*/, char** /*argv*/) { @@ -45,7 +45,7 @@ int main(int /*argc*/, char** /*argv*/) pluginlib::ClassLoader capability_plugin_loader("moveit_ros_move_group", "move_group::MoveGroupCapability"); std::cout << "Available capabilities:\n" - << boost::algorithm::join(capability_plugin_loader.getDeclaredClasses(), "\n") << '\n'; + << fmt::format("{}", fmt::join(capability_plugin_loader.getDeclaredClasses(), "\n")) << '\n'; } catch (pluginlib::PluginlibException& ex) { diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt index 4415d4e311..0553e6e2eb 100644 --- a/moveit_ros/planning/CMakeLists.txt +++ b/moveit_ros/planning/CMakeLists.txt @@ -6,6 +6,7 @@ find_package(moveit_common REQUIRED) moveit_package() find_package(ament_cmake REQUIRED) +find_package(fmt REQUIRED) find_package(generate_parameter_library REQUIRED) find_package(moveit_msgs REQUIRED) # find_package(moveit_ros_perception REQUIRED) diff --git a/moveit_ros/planning/package.xml b/moveit_ros/planning/package.xml index 37f8ea9b6a..b3c0875581 100644 --- a/moveit_ros/planning/package.xml +++ b/moveit_ros/planning/package.xml @@ -41,6 +41,7 @@ tf2_msgs tf2_ros eigen + fmt ament_lint_auto ament_lint_common diff --git a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp index bf4407ff25..bd0413c9cb 100644 --- a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp +++ b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp @@ -39,7 +39,7 @@ #include #include #include -#include +#include #include static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros_planning.planning_pipeline"); @@ -124,7 +124,7 @@ void planning_pipeline::PlanningPipeline::configure() if (planner_plugin_name_.empty()) { - std::string classes_str = boost::algorithm::join(classes, ", "); + std::string classes_str = fmt::format("{}", fmt::join(classes, ", ")); throw std::runtime_error("Planning plugin name is empty. Please choose one of the available plugins: " + classes_str); } @@ -140,7 +140,7 @@ void planning_pipeline::PlanningPipeline::configure() } catch (pluginlib::PluginlibException& ex) { - std::string classes_str = boost::algorithm::join(classes, ", "); + std::string classes_str = fmt::format("{}", fmt::join(classes, ", ")); RCLCPP_FATAL(LOGGER, "Exception while loading planner '%s': %s" "Available plugins: %s", diff --git a/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt b/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt index b64f83b5e3..b25347f88e 100644 --- a/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt +++ b/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt @@ -15,7 +15,7 @@ ament_target_dependencies(moveit_planning_scene_monitor urdf pluginlib rclcpp - Boost + fmt moveit_msgs ) target_link_libraries(moveit_planning_scene_monitor @@ -27,7 +27,7 @@ add_executable(demo_scene demos/demo_scene.cpp) ament_target_dependencies(demo_scene PUBLIC rclcpp - Boost + fmt moveit_msgs urdf message_filters diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp index 7384fda583..7ec5c2a673 100644 --- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp +++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include #include @@ -1454,7 +1454,7 @@ void PlanningSceneMonitor::updateSceneWithCurrentState() if (!current_state_monitor_->haveCompleteState(missing) && (time - current_state_monitor_->getMonitorStartTime()).seconds() > 1.0) { - std::string missing_str = boost::algorithm::join(missing, ", "); + std::string missing_str = fmt::format("{}", fmt::join(missing, ", ")); #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wold-style-cast" RCLCPP_WARN_THROTTLE(LOGGER, steady_clock, 1000, "The complete state of the robot is not yet known. Missing %s", diff --git a/moveit_ros/warehouse/CMakeLists.txt b/moveit_ros/warehouse/CMakeLists.txt index 5b3e38525d..b15a4aa2b1 100644 --- a/moveit_ros/warehouse/CMakeLists.txt +++ b/moveit_ros/warehouse/CMakeLists.txt @@ -6,6 +6,7 @@ find_package(moveit_common REQUIRED) moveit_package() find_package(ament_cmake REQUIRED) +find_package(fmt REQUIRED) find_package(rclcpp REQUIRED) find_package(moveit_core REQUIRED) find_package(warehouse_ros REQUIRED) @@ -19,6 +20,7 @@ include(ConfigExtras.cmake) include_directories(include) set(THIS_PACKAGE_INCLUDE_DEPENDS + fmt Boost moveit_core rclcpp @@ -52,7 +54,7 @@ target_link_libraries(moveit_warehouse_broadcast moveit_warehouse) add_executable(moveit_save_to_warehouse src/save_to_warehouse.cpp) ament_target_dependencies(moveit_save_to_warehouse ${THIS_PACKAGE_INCLUDE_DEPENDS}) -target_link_libraries(moveit_save_to_warehouse moveit_warehouse) +target_link_libraries(moveit_save_to_warehouse moveit_warehouse fmt) add_executable(moveit_warehouse_import_from_text src/import_from_text.cpp) ament_target_dependencies(moveit_warehouse_import_from_text ${THIS_PACKAGE_INCLUDE_DEPENDS}) diff --git a/moveit_ros/warehouse/package.xml b/moveit_ros/warehouse/package.xml index de61235e88..3a37a722b8 100644 --- a/moveit_ros/warehouse/package.xml +++ b/moveit_ros/warehouse/package.xml @@ -25,6 +25,7 @@ moveit_ros_planning tf2_eigen tf2_ros + fmt ament_lint_auto ament_lint_common diff --git a/moveit_ros/warehouse/src/save_to_warehouse.cpp b/moveit_ros/warehouse/src/save_to_warehouse.cpp index 8a881866d6..894212587d 100644 --- a/moveit_ros/warehouse/src/save_to_warehouse.cpp +++ b/moveit_ros/warehouse/src/save_to_warehouse.cpp @@ -38,11 +38,11 @@ #include #include #include -#include #include #include #include #include +#include #include #include #include @@ -221,7 +221,7 @@ int main(int argc, char** argv) std::vector topics; psm.getMonitoredTopics(topics); - RCLCPP_INFO_STREAM(LOGGER, "Listening for scene updates on topics " << boost::algorithm::join(topics, ", ")); + RCLCPP_INFO_STREAM(LOGGER, "Listening for scene updates on topics " << fmt::format("{}", fmt::join(topics, ", "))); RCLCPP_INFO_STREAM(LOGGER, "Listening for planning requests on topic " << mplan_req_sub->get_topic_name()); RCLCPP_INFO_STREAM(LOGGER, "Listening for named constraints on topic " << constr_sub->get_topic_name()); RCLCPP_INFO_STREAM(LOGGER, "Listening for states on topic " << state_sub->get_topic_name()); diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/include/moveit_setup_app_plugins/launch_bundle.hpp b/moveit_setup_assistant/moveit_setup_app_plugins/include/moveit_setup_app_plugins/launch_bundle.hpp index 604bfa6518..bca8be5bd1 100644 --- a/moveit_setup_assistant/moveit_setup_app_plugins/include/moveit_setup_app_plugins/launch_bundle.hpp +++ b/moveit_setup_assistant/moveit_setup_app_plugins/include/moveit_setup_app_plugins/launch_bundle.hpp @@ -139,9 +139,9 @@ class LaunchBundle bool write() override { // Add function name as a TemplateVariable, then remove it - variables_.push_back(TemplateVariable("FUNCTION_NAME", function_name_)); + variables.push_back(TemplateVariable("FUNCTION_NAME", function_name_)); bool ret = TemplatedGeneratedFile::write(); - variables_.pop_back(); + variables.pop_back(); return ret; } diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files.cpp b/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files.cpp index 1388809114..74ba926163 100644 --- a/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files.cpp +++ b/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files.cpp @@ -47,7 +47,7 @@ void ConfigurationFiles::onInit() void ConfigurationFiles::loadTemplateVariables() { - auto& variables = TemplatedGeneratedFile::variables_; + auto& variables = TemplatedGeneratedFile::variables; variables.clear(); for (const auto& config : config_data_->getConfigured()) { diff --git a/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt index f48d789b53..466994c486 100644 --- a/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt +++ b/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt @@ -8,6 +8,7 @@ moveit_package() find_package(ament_cmake REQUIRED) find_package(ament_cmake_ros REQUIRED) find_package(ament_index_cpp REQUIRED) +find_package(fmt REQUIRED) find_package(moveit_core REQUIRED) find_package(moveit_ros_planning REQUIRED) find_package(moveit_ros_visualization REQUIRED) @@ -83,6 +84,7 @@ install(TARGETS moveit_setup_framework INCLUDES DESTINATION include/moveit_setup_framework ) +ament_export_dependencies(fmt) ament_export_dependencies(rclcpp) ament_export_dependencies(Qt5Core) ament_export_dependencies(Qt5Widgets) diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/templates.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/templates.hpp index fb90a75703..1555eee16b 100644 --- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/templates.hpp +++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/templates.hpp @@ -69,7 +69,7 @@ class TemplatedGeneratedFile : public GeneratedFile bool write() override; - static std::vector variables_; + static std::vector variables; }; } // namespace moveit_setup diff --git a/moveit_setup_assistant/moveit_setup_framework/package.xml b/moveit_setup_assistant/moveit_setup_framework/package.xml index 0ba58ffec5..ebbed2aa02 100644 --- a/moveit_setup_assistant/moveit_setup_framework/package.xml +++ b/moveit_setup_assistant/moveit_setup_framework/package.xml @@ -20,6 +20,7 @@ rviz_rendering srdfdom urdf + fmt ament_lint_auto ament_clang_format diff --git a/moveit_setup_assistant/moveit_setup_framework/src/templates.cpp b/moveit_setup_assistant/moveit_setup_framework/src/templates.cpp index 6fc39d0671..37ff291e99 100644 --- a/moveit_setup_assistant/moveit_setup_framework/src/templates.cpp +++ b/moveit_setup_assistant/moveit_setup_framework/src/templates.cpp @@ -40,7 +40,7 @@ namespace moveit_setup { -std::vector TemplatedGeneratedFile::variables_; +std::vector TemplatedGeneratedFile::variables; static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_setup.templates"); bool TemplatedGeneratedFile::write() @@ -71,7 +71,7 @@ bool TemplatedGeneratedFile::write() template_stream.close(); // Replace keywords in string ------------------------------------------------------------ - for (const auto& variable : variables_) + for (const auto& variable : variables) { std::string key_with_brackets = "[" + variable.key + "]"; boost::replace_all(template_string, key_with_brackets, variable.value); diff --git a/moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp b/moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp index 164c7817c9..4d48be3af8 100644 --- a/moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp +++ b/moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp @@ -35,7 +35,7 @@ #include #include #include -#include +#include namespace moveit_setup { @@ -85,7 +85,7 @@ void URDFConfig::loadFromPath(const std::filesystem::path& urdf_file_path, const { urdf_path_ = urdf_file_path; xacro_args_vec_ = xacro_args; - xacro_args_ = boost::algorithm::join(xacro_args_vec_, " "); + xacro_args_ = fmt::format("{}", fmt::join(xacro_args_vec_, " ")); setPackageName(); load(); } From 01ccced3865445ba1cffd6b7029356ca88d80133 Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Mon, 14 Aug 2023 08:47:52 +0200 Subject: [PATCH 2/2] Add mergify iron backport label (#2293) --- .github/mergify.yml | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/.github/mergify.yml b/.github/mergify.yml index 9c1dfcdcab..7d5bc4a548 100644 --- a/.github/mergify.yml +++ b/.github/mergify.yml @@ -26,6 +26,15 @@ pull_request_rules: branches: - humble + - name: backport to iron at reviewers discretion + conditions: + - base=main + - "label=backport-iron" + actions: + backport: + branches: + - iron + - name: ask to resolve conflict conditions: - conflict