Remove bind

[peterdavidfagan]

Fixes #872

This pull request removes std::bind from the MoveIt2 codebase and includes some minor rework of pointer usage.

The changes in this pull request are based on these changes that were completed within MoveIt (thanks to @v4hn for this).

This is my first pull request on the MoveIt2 project, I hope I didn't overlook anything in the process. I am happy to address any feedback items to ensure this code can be merged into the main project.

[peterdavidfagan]

Hi @henningkayser and @v4hn,

It looks like I need a maintainer to approve the execution of GHA workflows since I am a first-time contributor. I would appreciate the approval of this workflow run.

I can look to run industrial_ci locally if usage of GHA minutes is an important constraint.

[codecov]

Codecov Report

Merging #1204 (59a1307) into main (78574bc) will decrease coverage by 1.19%.
The diff coverage is 47.35%.

@@            Coverage Diff             @@
##             main    #1204      +/-   ##
==========================================
- Coverage   61.35%   60.16%   -1.18%     
==========================================
  Files         274      274              
  Lines       24782    24830      +48     
==========================================
- Hits        15202    14937     -265     
- Misses       9580     9893     +313     

Impacted Files	Coverage Δ
..._core/collision_detection/src/collision_matrix.cpp	37.56% <0.00%> (ø)
...sion_distance_field/collision_env_distance_field.h	4.77% <ø> (ø)
...raint_samplers/src/default_constraint_samplers.cpp	71.75% <0.00%> (-0.39%)	⬇️
...e/moveit/ompl_interface/planning_context_manager.h	100.00% <ø> (ø)
.../ompl_interface/src/detail/constraints_library.cpp	0.00% <0.00%> (ø)
...ccupancy_map_monitor/src/occupancy_map_monitor.cpp	20.13% <0.00%> (-0.81%)	⬇️
...g/rdf_loader/src/synchronized_string_parameter.cpp	32.82% <0.00%> (-51.56%)	⬇️
...ude/moveit/robot_interaction/interaction_handler.h	0.00% <ø> (ø)
...clude/moveit/robot_interaction/robot_interaction.h	0.00% <ø> (ø)
..._ros/robot_interaction/src/interaction_handler.cpp	0.00% <0.00%> (ø)
... and 38 more

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[peterdavidfagan]

Thanks for running CI, it looks like one of the tests is failing (test_ruckig_traj_smoothing), I will take a look into this to understand why it has occurred.

[AndyZe]

Hmm, that's a weird failure. It looks like the test should pass. The requirement is:

(actual_duration < (1.3 * ideal_duration), actual: 0.285312 vs 0.273325

So it's definitely within 30%. I'm confused why that fails

[AndyZe]

I'll try running the test again.

[AndyZe]

Also, note that the failing test is on rolling-ci-testing. That is the upcoming changes that haven't been released yet. The required tests are rolling-ci and Formatting -- both of which pass. So I think you are A-OK 👍

[henningkayser]

Thank you @peterdavidfagan! The changes look all good at first sight. I would have expected cherry-picked commits from the original PR to keep the original authors of this effort, but I guess we haven't really required that. I'll leave it to @v4hn, @rhaschke to decide if they are ok with the new commits.

[peterdavidfagan]

Thanks @henningkayser I appreciate this and I agree it would have been optimal to preserve the original authors through cherry-picking commits. I would be happy to resubmit this pull request in this format if it is preferred, I would in this case separate any of my changes that are distinct from the original commits.

[rhaschke]

Keeping the original authors would have been great indeed. If you don't mind, @peterdavidfagan, please adapt. You can easily change authors via manual rebase and git commit --amend --author="...".

[peterdavidfagan]

Keeping the original authors would have been great indeed. If you don't mind, @peterdavidfagan, please adapt. You can easily change authors via manual rebase and git commit --amend --author="...".

Will do @rhaschke I have set aside time for this at the end of my current work session so I will perform the rebase and push the changes then.

[peterdavidfagan]

The above force push resets the commit authors to those who authored the original commits in the MoveIt repository (original commits found in this pr).

The original commits for changes to the planning context manager have been squashed in this pull request hence the two sources in the commit description. I assigned @rhaschke as the author since he made the last edits.

@rhaschke would you prefer for this commit to not be squashed in order to preserve the original history? Happy to also make this change if needed.

[rhaschke]

Thanks. Looks good to me.

[henningkayser]

Ok, diff looks all good to me! CI fails because of an unrelated issue (fixed here).