Remove deprecated ExecuteTrajectoryServiceCapability in Melodic #833
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
davetcoleman
force-pushed
the
melodic-execute-service
branch
from
addabb3
to
6215881
Compare
rhaschke
approved these changes
Apr 15, 2018
v4hn
requested changes
Apr 19, 2018
.github/PULL_REQUEST_TEMPLATE.md
Outdated
| @@ -6,6 +6,7 @@ Please explain the changes you made, including a reference to the related issue | |||
| - [ ] **Required**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code) | |||
| - [ ] Extended the tutorials / documentation, if necessary [reference](http://moveit.ros.org/documentation/contributing/) | |||
| - [ ] Include a screenshot if changing a GUI | |||
| - [ ] Document major API changes in the moveit/MIGRATION.md notes | |||
There was a problem hiding this comment.
👍 👍 👍
should have been a separate commit though...
MIGRATION
Outdated
| @@ -0,0 +1,7 @@ | |||
| # Migration Notes | |||
There was a problem hiding this comment.
shouldn't this be MIGRATION.md?
There was a problem hiding this comment.
thanks for changing this
MIGRATION
Outdated
| ## ROS Melodic | ||
|
|
||
| The move_group capability "ExecuteTrajectoryServiceCapability" has been removed in favor of the improved "ExecuteTrajectoryActionCapability" capability. | ||
| Since indigo, both capabilities were supported. If you still load default capabilities in your config/launch/move_group.launch, you can just remove them from the capabilities parameter. The correct default capabilities will be loaded automatically. |
There was a problem hiding this comment.
I added some explanation for users.
| @@ -240,14 +240,10 @@ class MoveGroupInterface::MoveGroupInterfaceImpl | |||
| { | |||
There was a problem hiding this comment.
please rename this function too.
| ROS_ERROR_STREAM_NAMED("planning_interface", "Unable to find execution action on topic: " | ||
| << node_handle_.getNamespace() + move_group::EXECUTE_ACTION_NAME | ||
| << " - perhaps you are still using the removed (in Melodic) " | ||
| "execute service?"); |
There was a problem hiding this comment.
I would remove the last part here.
It is meant as support for the user, but the much more likely reason for this warning is simply that the move_group node is not running/died.
MIGRATION
Outdated
| @@ -0,0 +1,8 @@ | |||
| # Migration Notes | |||
|
|
|||
| API changes in MoveIt releases | |||
There was a problem hiding this comment.
Also this file should really be documented somewhere everyone will look when transitioning their code.
Otherwise it might as well not exist.
rhaschke
approved these changes
Apr 19, 2018
MIGRATION
Outdated
| The move_group capability "ExecuteTrajectoryServiceCapability" has been removed in favor of the improved "ExecuteTrajectoryActionCapability" capability. | ||
| Since indigo, both capabilities were supported. If you still load default capabilities in your config/launch/move_group.launch, you can just remove them from the capabilities parameter. The correct default capabilities will be loaded automatically. |
davetcoleman
force-pushed
the
melodic-execute-service
branch
2 times, most recently
from
1bfd193
to
fb4c6cd
Compare
|
@davetcoleman Can you please rebase? |
v4hn
approved these changes
May 18, 2018
- Add MIGRATION.md file
davetcoleman
force-pushed
the
melodic-execute-service
branch
from
fb4c6cd
to
45d3c24
Compare
rhaschke
added a commit
that referenced
this pull request
May 18, 2018
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Final step for #60
I also created a migration document to help users move to Melodic
Checklist
Checked - none applicable
No GUI
Do not cherry pick