Merge pull request #117: Build moveit_core with colcon

.travis.yml

@@ -16,10 +16,12 @@ env:
     - MOVEIT_CI_TRAVIS_TIMEOUT=85  # Travis grants us 90 min, but we add a safety margin of 5 min
     - ROS_DISTRO=dashing
     - ROS_REPO=ros
-    - UPSTREAM_WORKSPACE=moveit.rosinstall
+    - UPSTREAM_WORKSPACE=moveit2.repos
     - TEST_BLACKLIST=moveit_ros_perception  # mesh_filter_test fails due to broken Mesa OpenGL
     - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unused-parameter -Wno-unused-but-set-parameter -Wno-unused-function"
     - WARNINGS_OK=false
+    - BEFORE_DOCKER_SCRIPT="sed -i 's/travis_run --retry rosdep install/#rosdep install/g' .moveit_ci/travis.sh"
+    - BEFORE_SCRIPT="sudo apt-get -qq update; sudo apt-get -qq install -y libfcl-dev ros-dashing-angles"
   matrix:
     # TODO(mlautman): Enable these in the future once they pass
     # - TEST="clang-format ament_lint"

README.md

@@ -1,23 +1,51 @@
 <img src="http://moveit.ros.org/assets/images/moveit2_logo_black.png" alt="MoveIt! Logo" width="200"/>
 
------
+The MoveIt Motion Planning Framework for ROS 2
 
-Contributions are being reviewed. Refer to https://github.com/acutronicrobotics/moveit2 for a fork maintained by @AcutronicRobotics that includes the latest changes.
+We are currently working on the upcoming Beta version of MoveIt 2.
+See the [MoveIt's website homepage](https://moveit.ros.org) for release dates and [this document](JAFAR's LINK) for our immediate migration progress.
 
------
+### Build from Source
+
+> Note: Currently, only the moveit\_core packages are being compiled.
+
+These instructions assume you are running on Ubuntu 18.04.
+
+1. [Install ROS2 Dashing](https://index.ros.org/doc/ros2/Installation/Linux-Install-Debians/) (Make sure to set `export CHOOSE_ROS_DISTRO=Dashing` and to source `/opt/ros/dashing/setup.bash`)
+
+1. [Install ROS2 Build Tools](https://index.ros.org/doc/ros2/Installation/Linux-Development-Setup/#install-development-tools-and-ros-tools)
+
+1. Create a colcon workspace:
+
+        export COLCON_WS=~/ws_ros2/
+        mkdir -p $COLCON_WS/src
+        cd $COLCON_WS/src
+
+1. Download the repository and install any dependencies:
+
+        git clone git@github.com:ros-planning/moveit2.git
+        vcs import < moveit2/moveit2.repos
+        rosdep install -r --from-paths . --ignore-src --rosdistro dashing -y
+
+1. Configure and build the workspace:
+
+        cd $COLCON_WS
+        colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+1. Source the workspace:
+
+        source $COLCON_WS/install/local_setup.bash
 
 
 ## Roadmap
-The MoveIt! Motion Planning Framework **for ROS 2.0**
+The MoveIt Motion Planning Framework **for ROS 2.0**
 
 - [Milestones](#milestones)
 - [Overview of MoveIt!](http://moveit.ros.org)
 - [Installation Instructions](http://moveit.ros.org/install/)
 - [Documentation](http://moveit.ros.org/documentation/)
 - [Get Involved](http://moveit.ros.org/documentation/contributing/)
 
-## Milestones
-Refer to https://github.com/acutronicrobotics/moveit2#milestones
 
 ## Continuous Integration Status
 

moveit2.repos

@@ -11,24 +11,24 @@ repositories:
     type: git
     url: https://github.com/ros/joint_state_publisher
     version: ros2-devel
-  # TODO(henningkayser): Change to 'ros-planning/ros2' once https://github.com/ros-planning/random_numbers/pull/18 is merged
   random_numbers:
     type: git
-    url: https://github.com/PickNikRobotics/random_numbers
-    version: ros2-devel
-  # TODO(henningkayser): merge dependencies below into upstream packages
+    url: https://github.com/ros-planning/random_numbers
+    version: ros2
   geometric_shapes:
     type: git
-    url: https://github.com/PickNikRobotics/geometric_shapes
-    version: ros2
+    url: https://github.com/ros-planning/geometric_shapes
+    version: dashing-devel
+# TODO(henningkayser): Remove once dashing release is available
+  octomap:
+    type: git
+    url: https://github.com/ros-gbp/octomap-release.git
+    version: debian/ros-melodic-octomap_1.9.0-1_bionic
+# TODO(henningkayser): merge dependencies below into upstream packages
   object_recognition_msgs:
     type: git
     url: https://github.com/PickNikRobotics/object_recognition_msgs
     version: master
-  octomap:
-    type: git
-    url: https://github.com/PickNikRobotics/octomap
-    version: ros2
   octomap_msgs:
     type: git
     url: https://github.com/PickNikRobotics/octomap_msgs