Travis: Update to Noetic and fix various warnings

.clang-tidy

@@ -0,0 +1,36 @@
+---
+Checks:          '-*,
+                  performance-*,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+...

.travis.yml

@@ -6,55 +6,27 @@ rvm:
   - 2.4
 python:
   - "2.7"
-cache: ccache
-compiler: gcc
 
 env:
   global:
-    - ROS_DISTRO=melodic
-    - DOCKER_IMAGE=moveit/moveit:master-source
+    - SCRIPT=.moveit_ci/travis.sh
+    - ROS_DISTRO=noetic
+    - ROS_REPO=ros-testing
+    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
+    - WARNINGS_OK=false
+    - UPSTREAM_WORKSPACE="https://github.com/ros-planning/moveit_visual_tools
+                          https://github.com/ros-planning/panda_moveit_config"
   matrix:
-    - TEST="clang-format"
-    - ROS_DISTRO=melodic
-
-before_install: # Use this to prepare the system to install prerequisites or dependencies
-  # Define some config vars
-  - export NOKOGIRI_USE_SYSTEM_LIBRARIES=true
-  - export REPOSITORY_NAME=${PWD##*/}
-  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-  - sudo -E sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update -qq
-  - sudo apt-get install -qq -y python-rosdep python-wstool python-catkin-tools
-  # Setup rosdep
-  - sudo rosdep init
-  - rosdep update
-  # Install htmlpoofer
-  - gem update --system
-  - gem --version
-  - gem install html-proofer
-  # Install ROS's version of sphinx
-  - sudo apt-get -qq install ros-kinetic-rosdoc-lite
-  - source /opt/ros/kinetic/setup.bash
+    - SCRIPT=htmlproofer.sh
+    - TEST="clang-format catkin_lint"
+    - TEST="clang-tidy-fix"
+    - DOCKER_IMAGE=moveit/moveit:master-source  ROS_REPO=
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
 
 script:
-  # Build tutorial examples
-  - .moveit_ci/travis.sh
-  # Test build with non-ROS wrapped Sphinx command to allow warnings and errors to be caught
-  - sphinx-build -W -b html . native_build
-  # Test build with ROS-version of Sphinx command so that it is generated same as ros.org
-  - rosdoc_lite -o build .
-  # Run HTML tests on generated build output to check for 404 errors, etc
-  - test "$TRAVIS_PULL_REQUEST" == false || URL_SWAP="--url-swap https\://github.com/ros-planning/moveit_tutorials/blob/master/:file\://$PWD/build/html/"
-  - htmlproofer ./build --only-4xx --check-html --file-ignore ./build/html/genindex.html,./build/html/search.html --alt-ignore '/.*/' --url-ignore '#' $URL_SWAP
-
-# after_success and deploy are skipped if build is broken
-after_success:
-  # Tell GitHub Pages not to bypass Jekyll processing
-  - touch build/html/.nojekyll
+  ./$SCRIPT
 
 deploy:
   # Deploy to gh-pages branch
@@ -66,5 +38,5 @@ deploy:
   # Only copy build output directory to gh-pages
   local_dir: build/html
   on:
-    # Source branch
     branch: master
+    condition: $SCRIPT = htmlproofer.sh

CMakeLists.txt

@@ -8,10 +8,11 @@ find_package(catkin REQUIRED
   COMPONENTS
     interactive_markers
     moveit_core
-    moveit_visual_tools
     moveit_ros_planning
     moveit_ros_planning_interface
     moveit_ros_perception
+    rviz_visual_tools
+    moveit_visual_tools
     pluginlib
     geometric_shapes
     pcl_ros
@@ -46,7 +47,8 @@ catkin_package(
 ## Build ##
 ###########
 
-include_directories(${THIS_PACKAGE_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})
+include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})
 
 add_subdirectory(doc/kinematics)
 add_subdirectory(doc/robot_model_and_robot_state)

doc/controller_configuration/src/moveit_controller_manager_example.cpp

@@ -49,7 +49,7 @@ class ExampleControllerHandle : public moveit_controller_manager::MoveItControll
   {
   }
 
-  bool sendTrajectory(const moveit_msgs::RobotTrajectory& t) override
+  bool sendTrajectory(const moveit_msgs::RobotTrajectory& /*t*/) override
   {
     // do whatever is needed to actually execute this trajectory
     return true;
@@ -134,7 +134,7 @@ class MoveItControllerManagerExample : public moveit_controller_manager::MoveItC
    * Controllers are all active and default.
    */
   moveit_controller_manager::MoveItControllerManager::ControllerState
-  getControllerState(const std::string& name) override
+  getControllerState(const std::string& /*name*/) override
   {
     moveit_controller_manager::MoveItControllerManager::ControllerState state;
     state.active_ = true;
@@ -143,7 +143,8 @@ class MoveItControllerManagerExample : public moveit_controller_manager::MoveItC
   }
 
   /* Cannot switch our controllers */
-  bool switchControllers(const std::vector<std::string>& activate, const std::vector<std::string>& deactivate) override
+  bool switchControllers(const std::vector<std::string>& /*activate*/,
+                         const std::vector<std::string>& /*deactivate*/) override
   {
     return false;
   }

doc/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt

@@ -1,29 +1,23 @@
+include_directories(include)
 include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
   SYSTEM
+  ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
 )
 
-add_library(${PROJECT_NAME}
-  src/lerp_interface.cpp
-  src/lerp_planning_context.cpp
-)
-
-target_link_libraries(${PROJECT_NAME}  ${catkin_LIBRARIES}  ${Boost_LIBRARIES})
-set_target_properties(${PROJECT_NAME}  PROPERTIES  VERSION  "${${PROJECT_NAME}_VERSION}")
-
 add_executable(lerp_example  src/lerp_example.cpp)
 target_link_libraries(lerp_example
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
 )
 
 # Lerp planning plugin
-add_library(moveit_lerp_planner_plugin src/lerp_planner_manager.cpp)
+add_library(moveit_lerp_planner_plugin
+  src/lerp_planner_manager.cpp
+  src/lerp_interface.cpp
+  src/lerp_planning_context.cpp)
 set_target_properties(moveit_lerp_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-
-target_link_libraries(moveit_lerp_planner_plugin ${PROJECT_NAME}  ${catkin_LIBRARIES})
+target_link_libraries(moveit_lerp_planner_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 #############
 ## Install ##
@@ -56,6 +50,6 @@ install(
   DESTINATION
     ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-
+#catkin_lint ignore uninstalled_plugin
 install(FILES lerp_interface_plugin_description.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/doc/creating_moveit_plugins/lerp_motion_planner/)

doc/creating_moveit_plugins/lerp_motion_planner/include/lerp_interface/lerp_interface.h

@@ -59,7 +59,7 @@ class LERPInterface
   int dof_;
 
 private:
-  void interpolate(const std::vector<std::string> joint_names, moveit::core::RobotStatePtr& robot_state,
+  void interpolate(const std::vector<std::string>& joint_names, moveit::core::RobotStatePtr& robot_state,
                    const moveit::core::JointModelGroup* joint_model_group, const std::vector<double>& start_joint_vals,
                    const std::vector<double>& goal_joint_vals, trajectory_msgs::JointTrajectory& joint_trajectory);
 };

doc/creating_moveit_plugins/lerp_motion_planner/src/lerp_example.cpp

@@ -85,7 +85,6 @@ int main(int argc, char** argv)
 
   // Create JointModelGroup
   const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
-  const std::vector<std::string>& joint_names = joint_model_group->getActiveJointModelNames();
   const std::vector<std::string>& link_model_names = joint_model_group->getLinkModelNames();
   ROS_INFO_NAMED(NODE_NAME, "end effector name %s\n", link_model_names.back().c_str());
 
@@ -183,9 +182,9 @@ int main(int argc, char** argv)
     std::vector<double> solution_positions;
     solution_positions = solution_traj.joint_trajectory.points[step_num].positions;
     std::stringstream sst;
-    for (int i = 0; i < solution_positions.size(); ++i)
+    for (double solution_position : solution_positions)
     {
-      sst << solution_positions[i] << " ";
+      sst << solution_position << " ";
     }
     ROS_INFO_STREAM_NAMED(NODE_NAME, sst.str());
   }

doc/creating_moveit_plugins/lerp_motion_planner/src/lerp_interface.cpp

@@ -77,7 +77,9 @@ bool LERPInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_
   std::vector<moveit_msgs::JointConstraint> goal_joint_constraint = goal_constraints[0].joint_constraints;
 
   std::vector<double> goal_joint_values;
-  for (auto constraint : goal_joint_constraint)
+  goal_joint_values.reserve(goal_joint_constraint.size());
+
+  for (const auto& constraint : goal_joint_constraint)
   {
     goal_joint_values.push_back(constraint.position);
   }
@@ -102,7 +104,7 @@ bool LERPInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_
   return true;
 }
 
-void LERPInterface::interpolate(const std::vector<std::string> joint_names, moveit::core::RobotStatePtr& rob_state,
+void LERPInterface::interpolate(const std::vector<std::string>& joint_names, moveit::core::RobotStatePtr& rob_state,
                                 const moveit::core::JointModelGroup* joint_model_group,
                                 const std::vector<double>& start_joint_vals, const std::vector<double>& goal_joint_vals,
                                 trajectory_msgs::JointTrajectory& joint_trajectory)

doc/creating_moveit_plugins/lerp_motion_planner/src/lerp_planner_manager.cpp

@@ -52,7 +52,7 @@ class LERPPlannerManager : public planning_interface::PlannerManager
   {
   }
 
-  bool initialize(const moveit::core::RobotModelConstPtr& model, const std::string& ns) override
+  bool initialize(const moveit::core::RobotModelConstPtr& model, const std::string& /*ns*/) override
   {
     for (const std::string& gpName : model->getJointModelGroupNames())
     {

doc/interactivity/include/interactivity/imarker.h

@@ -41,6 +41,7 @@
 
 #include <interactive_markers/interactive_marker_server.h>
 #include <Eigen/Geometry>
+#include <utility>
 
 /* Interactive marker.
  *
@@ -69,7 +70,8 @@ class IMarker
           Dof dof = BOTH)
     : imarker_()
   {
-    initialize(server, name, Eigen::Vector3d(0, 0, 0), Eigen::Quaterniond(1, 0, 0, 0), frame_id, callback, dof);
+    initialize(server, name, Eigen::Vector3d(0, 0, 0), Eigen::Quaterniond(1, 0, 0, 0), frame_id, std::move(callback),
+               dof);
   }
 
   /** create an interactive marker with an initial pose */
@@ -82,7 +84,7 @@ class IMarker
     Eigen::Quaterniond q(pose.linear());
     Eigen::Vector3d p = pose.translation();
 
-    initialize(server, name, p, q, frame_id, callback, dof);
+    initialize(server, name, p, q, frame_id, std::move(callback), dof);
   }
 
   /** create an interactive marker with an initial pose */
@@ -93,7 +95,7 @@ class IMarker
           Dof dof = BOTH)
     : imarker_()
   {
-    initialize(server, name, position, orientation, frame_id, callback, dof);
+    initialize(server, name, position, orientation, frame_id, std::move(callback), dof);
   }
 
   /** create an interactive marker with an initial position */
@@ -103,14 +105,14 @@ class IMarker
           Dof dof = BOTH)
     : imarker_()
   {
-    initialize(server, name, position, Eigen::Quaterniond(1, 0, 0, 0), frame_id, callback, dof);
+    initialize(server, name, position, Eigen::Quaterniond(1, 0, 0, 0), frame_id, std::move(callback), dof);
   }
 
   /** move marker to new pose */
   void move(const Eigen::Isometry3d& pose);
 
   /** default callback which just prints new position and orientation */
-  static void printFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&);
+  static void printFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& /*feedback*/);
 
 private:
   /* called by constructors */

doc/interactivity/include/interactivity/interactive_robot.h

@@ -44,6 +44,9 @@
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_state/robot_state.h>
 #include <moveit_msgs/DisplayRobotState.h>
+
+#include <utility>
+
 #include "imarker.h"
 
 /** Keeps track of the state of the robot and the world.
@@ -71,7 +74,7 @@ class InteractiveRobot
   /** set a callback to call when updates occur */
   void setUserCallback(boost::function<void(InteractiveRobot& robot)> callback)
   {
-    user_callback_ = callback;
+    user_callback_ = std::move(callback);
   }
 
   /** access RobotModel */

doc/interactivity/src/imarker.cpp

@@ -40,6 +40,8 @@
 #include "interactivity/pose_string.h"
 #include <tf2_eigen/tf2_eigen.h>
 
+#include <utility>
+
 /* default callback which just prints the current pose */
 void IMarker::printFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)
 {
@@ -182,6 +184,6 @@ void IMarker::initialize(interactive_markers::InteractiveMarkerServer& server, c
 
   // tell the server to show the marker and listen for changes
   server_->insert(imarker_);
-  server_->setCallback(imarker_.name, callback);
+  server_->setCallback(imarker_.name, std::move(callback));
   server_->applyChanges();
 }

doc/interactivity/src/interactive_robot.cpp

@@ -52,23 +52,18 @@ const ros::Duration InteractiveRobot::min_delay_(0.01);
 
 InteractiveRobot::InteractiveRobot(const std::string& robot_description, const std::string& robot_topic,
                                    const std::string& marker_topic, const std::string& imarker_topic)
-  :  // this node handle is used to create the publishers
-  nh_()
-  ,
+  : user_data_(nullptr)
+  , nh_()  // this node handle is used to create the publishers
   // create publishers for markers and robot state
-  robot_state_publisher_(nh_.advertise<moveit_msgs::DisplayRobotState>(robot_topic, 1))
+  , robot_state_publisher_(nh_.advertise<moveit_msgs::DisplayRobotState>(robot_topic, 1))
   , world_state_publisher_(nh_.advertise<visualization_msgs::Marker>(marker_topic, 100))
-  ,
   // create an interactive marker server for displaying interactive markers
-  interactive_marker_server_(imarker_topic)
-  , imarker_robot_(0)
-  , imarker_world_(0)
-  ,
+  , interactive_marker_server_(imarker_topic)
+  , imarker_robot_(nullptr)
+  , imarker_world_(nullptr)
   // load the robot description
-  rm_loader_(robot_description)
-  , group_(0)
-  , user_data_(0)
-  , user_callback_(0)
+  , rm_loader_(robot_description)
+  , group_(nullptr)
 {
   // get the RobotModel loaded from urdf and srdf files
   robot_model_ = rm_loader_.getModel();
@@ -209,7 +204,7 @@ void InteractiveRobot::scheduleUpdate()
 }
 
 /* callback called when it is time to publish */
-void InteractiveRobot::updateCallback(const ros::TimerEvent& e)
+void InteractiveRobot::updateCallback(const ros::TimerEvent& /*event*/)
 {
   ros::Time tbegin = ros::Time::now();
   publish_timer_.stop();