From 6454a073d27c4eeb23d4f748364b22f5b072cf92 Mon Sep 17 00:00:00 2001 From: hacker1024 Date: Thu, 16 May 2024 21:17:51 +1000 Subject: [PATCH 01/20] Add dependency on moveit_configs_utils to moveit_setup_assistant (#2832) --------- Co-authored-by: Sebastian Jahr --- moveit_setup_assistant/moveit_setup_assistant/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/moveit_setup_assistant/moveit_setup_assistant/package.xml b/moveit_setup_assistant/moveit_setup_assistant/package.xml index 855cbf4d40..31c27e6344 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/package.xml +++ b/moveit_setup_assistant/moveit_setup_assistant/package.xml @@ -27,6 +27,7 @@ rclcpp moveit_setup_framework moveit_setup_srdf_plugins + moveit_configs_utils moveit_setup_controllers moveit_setup_core_plugins moveit_setup_app_plugins From c72ac1bfc4fad1288bc0e5361c16edaaf8b90a01 Mon Sep 17 00:00:00 2001 From: methylDragon Date: Sun, 19 May 2024 07:13:37 -0700 Subject: [PATCH 02/20] Add getNodeHandle impl (#2840) Signed-off-by: methylDragon Co-authored-by: Sebastian Jahr --- .../moveit/move_group_interface/move_group_interface.h | 2 +- .../move_group_interface/src/move_group_interface.cpp | 5 +++++ 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h index 38ec463c9e..f3c7b6f506 100644 --- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h +++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h @@ -164,7 +164,7 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface moveit::core::RobotModelConstPtr getRobotModel() const; /** \brief Get the ROS node handle of this instance operates on */ - rclcpp::Node::SharedPtr getNodeHandle(); + const rclcpp::Node::SharedPtr& getNode() const; /** \brief Get the name of the frame in which the robot is planning */ const std::string& getPlanningFrame() const; diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp index 418dafa301..4f93f72781 100644 --- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp +++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp @@ -2295,6 +2295,11 @@ void MoveGroupInterface::setSupportSurfaceName(const std::string& name) impl_->setSupportSurfaceName(name); } +const rclcpp::Node::SharedPtr& MoveGroupInterface::getNode() const +{ + return impl_->node_; +} + const std::string& MoveGroupInterface::getPlanningFrame() const { return impl_->getRobotModel()->getModelFrame(); From bee0a2985bdf5e5c9ba67c0e2e0d74c6a8840c63 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 23 May 2024 13:47:56 +0200 Subject: [PATCH 03/20] Fix CI for Rolling / Ubuntu Noble (#2793) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * docker.yaml: Enable caching * [TEMP] moveit2_rolling.repos: add not yet released packages * Skip broken ci-testing image: osrf/ros2:testing doesn't contain /opt/ros! * use boost::timer::progress_display if available check for header to stay compatible with ubuntu 20.04. Support boost >= 1.83 Slightly ugly due to the double alias, but boost::timer was a class before 1.72, so using `boost::timer::progress_display` in the code breaks with older versions. * cherry-pick of #3547 from MoveIt1 * Tag ci image as ci-testing as well --------- Co-authored-by: Michael Görner Co-authored-by: Sebastian Jahr Co-authored-by: Henning Kayser --- .docker/source/Dockerfile | 2 +- .github/workflows/docker.yaml | 76 ++++++++----------- moveit2_rolling.repos | 9 +++ .../benchmarks/src/BenchmarkExecutor.cpp | 17 ++++- 4 files changed, 55 insertions(+), 49 deletions(-) create mode 100644 moveit2_rolling.repos diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile index 1c6a0dce38..0a82adb7bc 100644 --- a/.docker/source/Dockerfile +++ b/.docker/source/Dockerfile @@ -4,7 +4,7 @@ # Downloads the moveit source code and install remaining debian dependencies ARG ROS_DISTRO=rolling -FROM moveit/moveit2:${ROS_DISTRO}-ci-testing +FROM moveit/moveit2:${ROS_DISTRO}-ci LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de # Export ROS_UNDERLAY for downstream docker containers diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index f1f0090512..9d7032749d 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -30,6 +30,16 @@ jobs: PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} steps: + - uses: rhaschke/docker-run-action@v5 + name: Check for apt updates + continue-on-error: true + id: apt + with: + image: ${{ env.IMAGE }} + run: | + apt-get update + have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true) + echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT" - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 - name: Login to Github Container Registry @@ -51,7 +61,9 @@ jobs: file: .docker/${{ github.job }}/Dockerfile build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} push: ${{ env.PUSH }} - no-cache: true + no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }} + cache-from: type=registry,ref=${{ env.GH_IMAGE }} + cache-to: type=inline tags: | ${{ env.GH_IMAGE }} ${{ env.DH_IMAGE }} @@ -71,47 +83,16 @@ jobs: PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} steps: - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v3 - - name: Login to Github Container Registry - if: env.PUSH == 'true' - uses: docker/login-action@v3 - with: - registry: ghcr.io - username: ${{ github.repository_owner }} - password: ${{ secrets.GITHUB_TOKEN }} - - name: Login to DockerHub - if: env.PUSH == 'true' - uses: docker/login-action@v3 - with: - username: ${{ secrets.DOCKERHUB_USERNAME }} - password: ${{ secrets.DOCKERHUB_TOKEN }} - - name: Build and Push - uses: docker/build-push-action@v5 + - uses: rhaschke/docker-run-action@v5 + name: Check for apt updates + continue-on-error: true + id: apt with: - file: .docker/${{ github.job }}/Dockerfile - build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} - push: ${{ env.PUSH }} - no-cache: true - tags: | - ${{ env.GH_IMAGE }} - ${{ env.DH_IMAGE }} - - ci-testing: - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [rolling] - runs-on: ubuntu-latest - permissions: - packages: write - contents: read - env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} - - steps: + image: ${{ env.IMAGE }} + run: | + apt-get update + have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true) + echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT" - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 - name: Login to Github Container Registry @@ -131,15 +112,19 @@ jobs: uses: docker/build-push-action@v5 with: file: .docker/${{ github.job }}/Dockerfile - build-args: OUR_ROS_DISTRO=${{ matrix.ROS_DISTRO }} + build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} push: ${{ env.PUSH }} - no-cache: true + no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }} + cache-from: type=registry,ref=${{ env.GH_IMAGE }} + cache-to: type=inline tags: | ${{ env.GH_IMAGE }} + ${{ env.GH_IMAGE }}-testing ${{ env.DH_IMAGE }} + ${{ env.DH_IMAGE }}-testing source: - needs: ci-testing + needs: ci strategy: fail-fast: false matrix: @@ -179,7 +164,8 @@ jobs: file: .docker/${{ github.job }}/Dockerfile build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} push: ${{ env.PUSH }} - no-cache: true + cache-from: type=registry,ref=${{ env.GH_IMAGE }} + cache-to: type=inline tags: | ${{ env.GH_IMAGE }} ${{ env.DH_IMAGE }} diff --git a/moveit2_rolling.repos b/moveit2_rolling.repos new file mode 100644 index 0000000000..342a657ed7 --- /dev/null +++ b/moveit2_rolling.repos @@ -0,0 +1,9 @@ +repositories: + octomap: + type: git + url: https://github.com/octomap/octomap.git + version: devel + geometric_shapes: + type: git + url: https://github.com/ros-planning/geometric_shapes.git + version: ros2 diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp index 50760073fd..252d2a98d6 100644 --- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp +++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp @@ -43,10 +43,21 @@ #include #include -#define BOOST_ALLOW_DEPRECATED_HEADERS #include -#undef BOOST_ALLOW_DEPRECATED_HEADERS + +#if __has_include() #include +using boost_progress_display = boost::timer::progress_display; +#else +// boost < 1.72 +#define BOOST_TIMER_ENABLE_DEPRECATED 1 +#include +#undef BOOST_TIMER_ENABLE_DEPRECATED +using boost_progress_display = boost::progress_display; +#endif + +#include +#include #include #include #include @@ -773,7 +784,7 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::msg::MotionPlanRequest request } num_planners += options.parallel_planning_pipelines.size(); - boost::timer::progress_display progress(num_planners * options.runs, std::cout); + boost_progress_display progress(num_planners * options.runs, std::cout); // Iterate through all planning pipelines auto planning_pipelines = moveit_cpp_->getPlanningPipelines(); From 82ef3fc8dbf6770f309557924634ce0bc4ea6af8 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 24 May 2024 17:02:59 +0200 Subject: [PATCH 04/20] Migrate ros-planning org to moveit (#2847) * Rename github.com/ros-planning -> github.com/moveit * Rename ros-planning.github.io -> moveit.github.io * Rename ros-planning organization in docker and CI workflow files - ghcr.io/ros-planning -> ghcr.io/moveit - github.repository == 'moveit/*'' --- .docker/ci-testing/Dockerfile | 2 +- .docker/ci/Dockerfile | 2 +- .docker/release/Dockerfile | 2 +- .docker/source/Dockerfile | 2 +- .docker/tutorial-source/Dockerfile | 4 ++-- .github/ISSUE_TEMPLATE/first_timers_only.md | 2 +- .github/PULL_REQUEST_TEMPLATE.md | 4 ++-- .github/workflows/ci.yaml | 4 ++-- .github/workflows/docker.yaml | 16 ++++++++-------- .github/workflows/sonar.yaml | 2 +- .github/workflows/tutorial_docker.yaml | 8 ++++---- README.md | 6 +++--- moveit/package.xml | 4 ++-- moveit/scripts/create_maintainer_table.py | 2 +- moveit2_rolling.repos | 2 +- moveit_common/package.xml | 4 ++-- .../moveit_configs_builder.py | 2 +- moveit_core/package.xml | 4 ++-- .../src/time_optimal_trajectory_generation.cpp | 2 +- .../ikfast_kinematics_plugin/README.md | 2 +- moveit_kinematics/package.xml | 4 ++-- moveit_kinematics/test/test_ikfast_plugins.sh | 2 +- moveit_planners/chomp/README.md | 2 +- moveit_planners/moveit_planners/package.xml | 4 ++-- .../detail/state_validity_checker.h | 2 +- .../test/test_ompl_constraints.cpp | 2 +- .../test/test_planning_context_manager.cpp | 2 +- moveit_planners/ompl/package.xml | 4 ++-- .../pilz_industrial_motion_planner/package.xml | 4 ++-- .../package.xml | 4 ++-- moveit_planners/stomp/package.xml | 4 ++-- .../prbt_ikfast_manipulator_plugin/package.xml | 4 ++-- .../test_configs/prbt_moveit_config/package.xml | 4 ++-- .../test_configs/prbt_pg70_support/package.xml | 4 ++-- .../test_configs/prbt_support/package.xml | 4 ++-- .../moveit_simple_controller_manager/package.xml | 4 ++-- moveit_py/CITATION.cff | 2 +- moveit_py/README.md | 2 +- .../trajectory_execution_manager.cpp | 6 +++--- moveit_ros/benchmarks/README.md | 2 +- moveit_ros/benchmarks/package.xml | 4 ++-- moveit_ros/hybrid_planning/README.md | 2 +- .../src/local_planner_component.cpp | 2 +- moveit_ros/hybrid_planning/package.xml | 4 ++-- moveit_ros/move_group/CMakeLists.txt | 2 +- moveit_ros/move_group/package.xml | 4 ++-- moveit_ros/moveit_ros/package.xml | 4 ++-- .../config/panda_simulated_config.yaml | 2 +- .../moveit_servo/config/test_config_panda.yaml | 2 +- moveit_ros/moveit_servo/package.xml | 2 +- .../moveit_servo/src/collision_monitor.cpp | 2 +- moveit_ros/moveit_servo/src/utils/common.cpp | 2 +- moveit_ros/occupancy_map_monitor/package.xml | 4 ++-- moveit_ros/perception/package.xml | 4 ++-- moveit_ros/planning/package.xml | 4 ++-- .../src/planning_scene_monitor.cpp | 2 +- moveit_ros/planning_interface/package.xml | 4 ++-- .../test/move_group_interface_cpp_test.cpp | 2 +- .../test/move_group_pick_place_test.cpp | 2 +- .../planning_interface/test/subframes_test.cpp | 2 +- moveit_ros/robot_interaction/package.xml | 4 ++-- moveit_ros/tests/package.xml | 4 ++-- moveit_ros/visualization/package.xml | 4 ++-- moveit_ros/warehouse/package.xml | 4 ++-- .../moveit_setup_assistant/package.xml | 6 +++--- .../templates/package.xml.template | 4 ++-- 66 files changed, 112 insertions(+), 112 deletions(-) diff --git a/.docker/ci-testing/Dockerfile b/.docker/ci-testing/Dockerfile index 45c18e07d6..99e89cba4b 100644 --- a/.docker/ci-testing/Dockerfile +++ b/.docker/ci-testing/Dockerfile @@ -1,4 +1,4 @@ -# ghcr.io/ros-planning/moveit2:${OUR_ROS_DISTRO}-ci-testing +# ghcr.io/moveit/moveit2:${OUR_ROS_DISTRO}-ci-testing # CI image using the ROS testing repository FROM osrf/ros2:testing diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile index c6aa5ee42c..827bae17d9 100644 --- a/.docker/ci/Dockerfile +++ b/.docker/ci/Dockerfile @@ -1,4 +1,4 @@ -# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci +# ghcr.io/moveit/moveit2:${ROS_DISTRO}-ci # ROS base image augmented with all MoveIt dependencies to use for CI ARG ROS_DISTRO=rolling diff --git a/.docker/release/Dockerfile b/.docker/release/Dockerfile index 8a1b6992c4..0c02814cbe 100644 --- a/.docker/release/Dockerfile +++ b/.docker/release/Dockerfile @@ -1,4 +1,4 @@ -# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-release +# ghcr.io/moveit/moveit2:${ROS_DISTRO}-release # Full debian-based install of MoveIt using apt-get ARG ROS_DISTRO=rolling diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile index 0a82adb7bc..bf2c845071 100644 --- a/.docker/source/Dockerfile +++ b/.docker/source/Dockerfile @@ -1,6 +1,6 @@ # syntax = docker/dockerfile:1.3 -# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-source +# ghcr.io/moveit/moveit2:${ROS_DISTRO}-source # Downloads the moveit source code and install remaining debian dependencies ARG ROS_DISTRO=rolling diff --git a/.docker/tutorial-source/Dockerfile b/.docker/tutorial-source/Dockerfile index 325949b2ac..e4f875e91b 100644 --- a/.docker/tutorial-source/Dockerfile +++ b/.docker/tutorial-source/Dockerfile @@ -1,6 +1,6 @@ # syntax = docker/dockerfile:1.3 -# ghcr.io/ros-planning/moveit2:main-${ROS_DISTRO}-tutorial-source +# ghcr.io/moveit/moveit2:main-${ROS_DISTRO}-tutorial-source # Source build of the repos file from the tutorail site ARG ROS_DISTRO=rolling @@ -20,7 +20,7 @@ RUN --mount=type=cache,target=/root/.ccache/,sharing=locked \ # Enable ccache PATH=/usr/lib/ccache:$PATH && \ # Checkout the tutorial repo - git clone https://github.com/ros-planning/moveit2_tutorials src/moveit2_tutorials && \ + git clone https://github.com/moveit/moveit2_tutorials src/moveit2_tutorials && \ # Fetch required upstream sources for building vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos && \ # Source ROS install diff --git a/.github/ISSUE_TEMPLATE/first_timers_only.md b/.github/ISSUE_TEMPLATE/first_timers_only.md index 10f1b1acac..ecd89f9455 100644 --- a/.github/ISSUE_TEMPLATE/first_timers_only.md +++ b/.github/ISSUE_TEMPLATE/first_timers_only.md @@ -18,7 +18,7 @@ We're interested in helping you take the first step, and can answer questions an We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝 -If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/ros-planning/moveit2/labels/bug) issues. Thanks! +If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/moveit/moveit2/labels/bug) issues. Thanks! ### 🤔 What you will need to know. diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 65a7329b72..e073217871 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -5,9 +5,9 @@ Please explain the changes you made, including a reference to the related issue ### Checklist - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code) - [ ] Extend the tutorials / documentation [reference](http://moveit.ros.org/documentation/contributing/) -- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/ros-planning/moveit2/blob/main/MIGRATION.md) notes +- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/moveit/moveit2/blob/main/MIGRATION.md) notes - [ ] Create tests, which fail without this PR [reference](https://moveit.picknik.ai/humble/doc/examples/tests/tests_tutorial.html) - [ ] Include a screenshot if changing a GUI -- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/ros-planning/moveit2/pulls) to support the maintainers +- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/moveit/moveit2/pulls) to support the maintainers [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!" diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 2d255edde8..547587e976 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -84,7 +84,7 @@ jobs: df -h - uses: actions/checkout@v4 - uses: testspace-com/setup-testspace@v1 - if: github.repository == 'ros-planning/moveit2' + if: github.repository == 'moveit/moveit2' with: domain: ros-planning - name: Get latest release date for rosdistro @@ -141,7 +141,7 @@ jobs: uses: ros-industrial/industrial_ci@master env: ${{ matrix.env }} - name: Push result to Testspace - if: always() && (github.repository == 'ros-planning/moveit2') + if: always() && (github.repository == 'moveit/moveit2') run: | testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml" - name: Upload test artifacts (on failure) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 9d7032749d..2517883995 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -25,9 +25,9 @@ jobs: packages: write contents: read env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} + GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} + PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} steps: - uses: rhaschke/docker-run-action@v5 @@ -78,9 +78,9 @@ jobs: packages: write contents: read env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} + GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} + PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} steps: - uses: rhaschke/docker-run-action@v5 @@ -134,9 +134,9 @@ jobs: packages: write contents: read env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} + GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} + PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} steps: - uses: actions/checkout@v4 @@ -177,7 +177,7 @@ jobs: - source steps: - name: Delete Untagged Images - if: (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') + if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') uses: actions/github-script@v7 with: github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }} @@ -193,6 +193,6 @@ jobs: } } env: - OWNER: ros-planning + OWNER: moveit PACKAGE_NAME: moveit2 PER_PAGE: 100 diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml index 99e4e889f3..0d46761490 100644 --- a/.github/workflows/sonar.yaml +++ b/.github/workflows/sonar.yaml @@ -57,7 +57,7 @@ jobs: df -h - uses: actions/checkout@v4 - uses: testspace-com/setup-testspace@v1 - if: github.repository == 'ros-planning/moveit2' + if: github.repository == 'moveit/moveit2' with: domain: ros-planning - name: Get latest release date for rosdistro diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml index bd3bb40189..a07f55d707 100644 --- a/.github/workflows/tutorial_docker.yaml +++ b/.github/workflows/tutorial_docker.yaml @@ -22,9 +22,9 @@ jobs: packages: write contents: read env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} + GH_IMAGE: ghcr.io/moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} DH_IMAGE: moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} + PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} steps: - uses: actions/checkout@v4 @@ -74,7 +74,7 @@ jobs: - tutorial-source steps: - name: Delete Untagged Images - if: (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') + if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') uses: actions/github-script@v7 with: github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }} @@ -90,6 +90,6 @@ jobs: } } env: - OWNER: ros-planning + OWNER: moveit PACKAGE_NAME: moveit2 PER_PAGE: 100 diff --git a/README.md b/README.md index e6236e2583..2fe6e09da9 100644 --- a/README.md +++ b/README.md @@ -1,13 +1,13 @@ MoveIt Logo -The [MoveIt Motion Planning Framework for ROS 2](http://moveit.ros.org). For the ROS 1 repository see [MoveIt 1](https://github.com/ros-planning/moveit). For the commercially supported version see [MoveIt Pro](http://picknik.ai/pro). +The [MoveIt Motion Planning Framework for ROS 2](http://moveit.ros.org). For the ROS 1 repository see [MoveIt 1](https://github.com/moveit/moveit). For the commercially supported version see [MoveIt Pro](http://picknik.ai/pro). *Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.* ## Continuous Integration Status -[![Formatting (pre-commit)](https://github.com/ros-planning/moveit2/actions/workflows/format.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2/actions/workflows/format.yaml?query=branch%3Amain) -[![CI (Rolling and Humble)](https://github.com/ros-planning/moveit2/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2/actions/workflows/ci.yaml?query=branch%3Amain) +[![Formatting (pre-commit)](https://github.com/moveit/moveit2/actions/workflows/format.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit2/actions/workflows/format.yaml?query=branch%3Amain) +[![CI (Rolling and Humble)](https://github.com/moveit/moveit2/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit2/actions/workflows/ci.yaml?query=branch%3Amain) [![Code Coverage](https://codecov.io/gh/ros-planning/moveit2/branch/main/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit2) ## Getting Started diff --git a/moveit/package.xml b/moveit/package.xml index b8c1264281..1b585a1579 100644 --- a/moveit/package.xml +++ b/moveit/package.xml @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2 - https://github.com/ros-planning/moveit2/issues + https://github.com/moveit/moveit2 + https://github.com/moveit/moveit2/issues Ioan Sucan Sachin Chitta diff --git a/moveit/scripts/create_maintainer_table.py b/moveit/scripts/create_maintainer_table.py index c1d1ca0a44..2cd7999fd0 100644 --- a/moveit/scripts/create_maintainer_table.py +++ b/moveit/scripts/create_maintainer_table.py @@ -161,7 +161,7 @@ def get_first_folder(path): def populate_package_data(path, package): output = ( - "" + package.name diff --git a/moveit2_rolling.repos b/moveit2_rolling.repos index 342a657ed7..4d39d584b4 100644 --- a/moveit2_rolling.repos +++ b/moveit2_rolling.repos @@ -5,5 +5,5 @@ repositories: version: devel geometric_shapes: type: git - url: https://github.com/ros-planning/geometric_shapes.git + url: https://github.com/moveit/geometric_shapes.git version: ros2 diff --git a/moveit_common/package.xml b/moveit_common/package.xml index 075d3decd3..09c4fe34e6 100644 --- a/moveit_common/package.xml +++ b/moveit_common/package.xml @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Lior Lustgarten diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py index af23afc2c4..04cb077514 100644 --- a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py +++ b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py @@ -414,7 +414,7 @@ def sensors_3d(self, file_path: Optional[str] = None): if sensors_path.exists(): sensors_data = load_yaml(sensors_path) # TODO(mikeferguson): remove the second part of this check once - # https://github.com/ros-planning/moveit_resources/pull/141 has made through buildfarm + # https://github.com/moveit/moveit_resources/pull/141 has made through buildfarm if len(sensors_data["sensors"]) > 0 and sensors_data["sensors"][0]: self.__moveit_configs.sensors_3d = sensors_data return self diff --git a/moveit_core/package.xml b/moveit_core/package.xml index 1517f440d6..434aef7c82 100644 --- a/moveit_core/package.xml +++ b/moveit_core/package.xml @@ -13,8 +13,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp index 17056e0c9f..ad9225b34a 100644 --- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp +++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp @@ -586,7 +586,7 @@ bool Trajectory::integrateForward(std::list& trajectory, double if (next_discontinuity != switching_points.end() && path_pos > next_discontinuity->first) { // Avoid having a TrajectoryStep with path_pos near a switching point which will cause an almost identical - // TrajectoryStep get added in the next run (https://github.com/ros-planning/moveit/issues/1665) + // TrajectoryStep get added in the next run (https://github.com/moveit/moveit/issues/1665) if (path_pos - next_discontinuity->first < EPS) { continue; diff --git a/moveit_kinematics/ikfast_kinematics_plugin/README.md b/moveit_kinematics/ikfast_kinematics_plugin/README.md index 6d82d0a417..ad46636df0 100644 --- a/moveit_kinematics/ikfast_kinematics_plugin/README.md +++ b/moveit_kinematics/ikfast_kinematics_plugin/README.md @@ -7,4 +7,4 @@ Generates a IKFast kinematics plugin for MoveIt using [OpenRave](http://openrave Tested on ROS Hydro and greater with Catkin using OpenRave 0.8 with a 6dof and 7dof robot arm manipulator. Does not work with greater than 7dof. -[Documentation on docs.ros.org](https://ros-planning.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#creating-the-ikfast-moveit-plugin) +[Documentation on docs.ros.org](https://moveit.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#creating-the-ikfast-moveit-plugin) diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml index f9602fc59a..904706ede5 100644 --- a/moveit_kinematics/package.xml +++ b/moveit_kinematics/package.xml @@ -14,8 +14,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2 - https://github.com/ros-planning/moveit2/issues + https://github.com/moveit/moveit2 + https://github.com/moveit/moveit2/issues Dave Coleman Ioan Sucan diff --git a/moveit_kinematics/test/test_ikfast_plugins.sh b/moveit_kinematics/test/test_ikfast_plugins.sh index 96e63e2396..c435c46921 100755 --- a/moveit_kinematics/test/test_ikfast_plugins.sh +++ b/moveit_kinematics/test/test_ikfast_plugins.sh @@ -11,7 +11,7 @@ sudo apt-get -qq update sudo apt-get -qq install python3-lxml python3-yaml # Clone moveit_resources for URDFs. They are not available before running docker. -git clone -q --depth=1 -b ros2 https://github.com/ros-planning/moveit_resources /tmp/resources +git clone -q --depth=1 -b ros2 https://github.com/moveit/moveit_resources /tmp/resources fanuc=/tmp/resources/fanuc_description/urdf/fanuc.urdf panda=/tmp/resources/panda_description/urdf/panda.urdf diff --git a/moveit_planners/chomp/README.md b/moveit_planners/chomp/README.md index a4d37b32e9..0be4fddc1f 100644 --- a/moveit_planners/chomp/README.md +++ b/moveit_planners/chomp/README.md @@ -1,3 +1,3 @@ ## CHOMP Motion Planner -See [Chomp Interface Tutorial](https://ros-planning.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html) +See [Chomp Interface Tutorial](https://moveit.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html) diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml index a23c871731..627ead33eb 100644 --- a/moveit_planners/moveit_planners/package.xml +++ b/moveit_planners/moveit_planners/package.xml @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h index 5dfafa7f2c..a3fead6927 100644 --- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h +++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h @@ -115,7 +115,7 @@ class StateValidityChecker : public ompl::base::StateValidityChecker * * We still check the path constraints, because not all states sampled by the constrained state space * satisfy the constraints unfortunately. This is a complicated issue. For more details see: - * https://github.com/ros-planning/moveit/issues/2092#issuecomment-669911722. + * https://github.com/moveit/moveit/issues/2092#issuecomment-669911722. **/ class ConstrainedPlanningStateValidityChecker : public StateValidityChecker { diff --git a/moveit_planners/ompl/ompl_interface/test/test_ompl_constraints.cpp b/moveit_planners/ompl/ompl_interface/test/test_ompl_constraints.cpp index fc45d018d3..aa06ac75d1 100644 --- a/moveit_planners/ompl/ompl_interface/test/test_ompl_constraints.cpp +++ b/moveit_planners/ompl/ompl_interface/test/test_ompl_constraints.cpp @@ -252,7 +252,7 @@ class TestOMPLConstraints : public ompl_interface_testing::LoadTestRobot, public // But these issues do not prevent us to use the ConstrainedPlanningStateSpace! :) // The jacobian test is expected to fail because of the discontinuous constraint derivative. // In addition not all samples returned from the state sampler will be valid. - // For more details: https://github.com/ros-planning/moveit/issues/2092#issuecomment-669911722 + // For more details: https://github.com/moveit/moveit/issues/2092#issuecomment-669911722 try { constrained_state_space->sanityChecks(); diff --git a/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp index 87a0d7b275..16ecc3fc63 100644 --- a/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp +++ b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp @@ -46,7 +46,7 @@ * TODO(jeroendm) I also tried something similar with position constraints, but get a segmentation fault * that occurs in the 'geometric_shapes' package, in the method 'useDimensions' in 'bodies.h'. * git permalink: - * https://github.com/ros-planning/geometric_shapes/blob/df0478870b8592ce789ee1919f3124058c4327d7/include/geometric_shapes/bodies.h#L196 + * https://github.com/moveit/geometric_shapes/blob/df0478870b8592ce789ee1919f3124058c4327d7/include/geometric_shapes/bodies.h#L196 * **/ diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml index 7c48ac1629..f25fb89b33 100644 --- a/moveit_planners/ompl/package.xml +++ b/moveit_planners/ompl/package.xml @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml index 09ae1056b9..f158642eac 100644 --- a/moveit_planners/pilz_industrial_motion_planner/package.xml +++ b/moveit_planners/pilz_industrial_motion_planner/package.xml @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 ament_cmake eigen3_cmake_module diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml index a22c355ba2..590ec798bd 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 ament_cmake eigen3_cmake_module diff --git a/moveit_planners/stomp/package.xml b/moveit_planners/stomp/package.xml index aefee7703e..d93ccf63b3 100644 --- a/moveit_planners/stomp/package.xml +++ b/moveit_planners/stomp/package.xml @@ -7,8 +7,8 @@ Henning Kayser BSD-3-Clause - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Henning Kayser diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml index 55cfbedf10..23f1e6320e 100644 --- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml +++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml @@ -10,8 +10,8 @@ Apache 2.0 ament_cmake http://moveit.ros.org - https://github.com/ros-planning/moveit-resources/issues - https://github.com/ros-planning/moveit-resources + https://github.com/moveit/moveit-resources/issues + https://github.com/moveit/moveit-resources tf2_geometry_msgs diff --git a/moveit_planners/test_configs/prbt_moveit_config/package.xml b/moveit_planners/test_configs/prbt_moveit_config/package.xml index 848c17573d..61d4e06c29 100644 --- a/moveit_planners/test_configs/prbt_moveit_config/package.xml +++ b/moveit_planners/test_configs/prbt_moveit_config/package.xml @@ -17,8 +17,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit-resources/issues - https://github.com/ros-planning/moveit-resources + https://github.com/moveit/moveit-resources/issues + https://github.com/moveit/moveit-resources ament_cmake diff --git a/moveit_planners/test_configs/prbt_pg70_support/package.xml b/moveit_planners/test_configs/prbt_pg70_support/package.xml index 4bbdd0a22e..5d577d1952 100644 --- a/moveit_planners/test_configs/prbt_pg70_support/package.xml +++ b/moveit_planners/test_configs/prbt_pg70_support/package.xml @@ -11,8 +11,8 @@ Apache 2.0 http://moveit.ros.org - https://github.com/ros-planning/moveit-resources/issues - https://github.com/ros-planning/moveit-resources + https://github.com/moveit/moveit-resources/issues + https://github.com/moveit/moveit-resources ament_cmake diff --git a/moveit_planners/test_configs/prbt_support/package.xml b/moveit_planners/test_configs/prbt_support/package.xml index e5d0a49d44..fd867ca576 100644 --- a/moveit_planners/test_configs/prbt_support/package.xml +++ b/moveit_planners/test_configs/prbt_support/package.xml @@ -12,8 +12,8 @@ Apache 2.0 http://moveit.ros.org - https://github.com/ros-planning/moveit-resources/issues - https://github.com/ros-planning/moveit-resources + https://github.com/moveit/moveit-resources/issues + https://github.com/moveit/moveit-resources ament_cmake diff --git a/moveit_plugins/moveit_simple_controller_manager/package.xml b/moveit_plugins/moveit_simple_controller_manager/package.xml index e80e46f01c..a07658460c 100644 --- a/moveit_plugins/moveit_simple_controller_manager/package.xml +++ b/moveit_plugins/moveit_simple_controller_manager/package.xml @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Michael Ferguson diff --git a/moveit_py/CITATION.cff b/moveit_py/CITATION.cff index ab0a59f44b..61e387555b 100644 --- a/moveit_py/CITATION.cff +++ b/moveit_py/CITATION.cff @@ -5,4 +5,4 @@ authors: date-released: 2023-03-20 message: "If you use this software, please cite it as below." title: "MoveIt 2 Python Library: A Software Library for Robotics Education and Research" -url: "https://github.com/ros-planning/moveit2/tree/main/moveit_py" +url: "https://github.com/moveit/moveit2/tree/main/moveit_py" diff --git a/moveit_py/README.md b/moveit_py/README.md index 8156807910..e903761ee5 100644 --- a/moveit_py/README.md +++ b/moveit_py/README.md @@ -26,7 +26,7 @@ If you use this library in your work please use the following citation: @software{fagan2023moveitpy, author = {Fagan, Peter David}, title = {{MoveIt 2 Python Library: A Software Library for Robotics Education and Research}}, - url = {https://github.com/ros-planning/moveit2/tree/main/moveit_py}, + url = {https://github.com/moveit/moveit2/tree/main/moveit_py}, year = {2023} } ``` diff --git a/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp b/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp index d4e7f7f901..3872d17665 100644 --- a/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp +++ b/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp @@ -153,7 +153,7 @@ void initTrajectoryExecutionManager(py::module& m) )") // ToDo(MatthijsBurgh) - // See https://github.com/ros-planning/moveit2/issues/2442 + // See https://github.com/moveit/moveit2/issues/2442 // get_trajectories .def("execute", py::overload_castBSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ryan Luna diff --git a/moveit_ros/hybrid_planning/README.md b/moveit_ros/hybrid_planning/README.md index defb1475c7..e31a4c5cee 100644 --- a/moveit_ros/hybrid_planning/README.md +++ b/moveit_ros/hybrid_planning/README.md @@ -1,5 +1,5 @@ # Hybrid Planning -A Hybrid Planning architecture. You can find more information in the project's issues[#300](https://github.com/ros-planning/moveit2/issues/300), [#433](https://github.com/ros-planning/moveit2/issues/433) and on the [MoveIt 2 roadmap](https://moveit.ros.org/documentation/contributing/roadmap/). Furthermore, there is an extensive tutorial available [here](https://github.com/ros-planning/moveit2_tutorials/pull/97). +A Hybrid Planning architecture. You can find more information in the project's issues[#300](https://github.com/moveit/moveit2/issues/300), [#433](https://github.com/moveit/moveit2/issues/433) and on the [MoveIt 2 roadmap](https://moveit.ros.org/documentation/contributing/roadmap/). Furthermore, there is an extensive tutorial available [here](https://github.com/moveit/moveit2_tutorials/pull/97). ## Getting started To start the demo run: diff --git a/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp b/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp index 77a0462045..ab4bb28c66 100644 --- a/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp +++ b/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp @@ -318,7 +318,7 @@ void LocalPlannerComponent::executeIteration() } // Use a configurable message interface like MoveIt servo - // (See https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/src/servo_calcs.cpp) + // (See https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/src/servo_calcs.cpp) // Format outgoing msg in the right format // (trajectory_msgs/JointTrajectory or joint positions/velocities in form of std_msgs/Float64MultiArray). if (config_->local_solution_topic_type == "trajectory_msgs/JointTrajectory") diff --git a/moveit_ros/hybrid_planning/package.xml b/moveit_ros/hybrid_planning/package.xml index 5b96bca7f4..d37e7fd1d8 100644 --- a/moveit_ros/hybrid_planning/package.xml +++ b/moveit_ros/hybrid_planning/package.xml @@ -9,8 +9,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 ament_cmake moveit_common diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index 499c810176..6c4cdc9521 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -95,7 +95,7 @@ pluginlib_export_plugin_description_file( if(BUILD_TESTING) # TODO(henningkayser): enable rostests find_package(rostest REQUIRED) # # rostest under development in ROS2 - # https://github.com/ros-planning/moveit2/issues/23 this test is flaky + # https://github.com/moveit/moveit2/issues/23 this test is flaky # add_rostest(test/test_cancel_before_plan_execution.test) # add_rostest(test/test_check_state_validity_in_empty_scene.test) endif() diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml index ccac01b94f..14cca385d3 100644 --- a/moveit_ros/move_group/package.xml +++ b/moveit_ros/move_group/package.xml @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml index 4f550e6f24..baec4dd619 100644 --- a/moveit_ros/moveit_ros/package.xml +++ b/moveit_ros/moveit_ros/package.xml @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta diff --git a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml index ac3d0eb068..b5d57bfcb9 100644 --- a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml +++ b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml @@ -44,7 +44,7 @@ move_group_name: panda_arm # Often 'manipulator' or 'arm' lower_singularity_threshold: 17.0 # Start decelerating when the condition number hits this (close to singularity) hard_stop_singularity_threshold: 30.0 # Stop when the condition number hits this joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians or meters]. If moving quickly, make this larger. -leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/ros-planning/moveit2/pull/620) +leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/moveit/moveit2/pull/620) ## Topic names cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands diff --git a/moveit_ros/moveit_servo/config/test_config_panda.yaml b/moveit_ros/moveit_servo/config/test_config_panda.yaml index 0698fd846a..5324ce9bf1 100644 --- a/moveit_ros/moveit_servo/config/test_config_panda.yaml +++ b/moveit_ros/moveit_servo/config/test_config_panda.yaml @@ -43,7 +43,7 @@ move_group_name: panda_arm # Often 'manipulator' or 'arm' lower_singularity_threshold: 17.0 # Start decelerating when the condition number hits this (close to singularity) hard_stop_singularity_threshold: 30.0 # Stop when the condition number hits this joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians or meters]. If moving quickly, make this larger. -leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/ros-planning/moveit2/pull/620) +leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/moveit/moveit2/pull/620) ## Topic names cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml index edfc14d0d6..81a208da18 100644 --- a/moveit_ros/moveit_servo/package.xml +++ b/moveit_ros/moveit_servo/package.xml @@ -11,7 +11,7 @@ BSD-3-Clause - https://ros-planning.github.io/moveit_tutorials + https://moveit.github.io/moveit_tutorials Brian O'Neil Andy Zelenak diff --git a/moveit_ros/moveit_servo/src/collision_monitor.cpp b/moveit_ros/moveit_servo/src/collision_monitor.cpp index 719d0112ec..c3a886cff8 100644 --- a/moveit_ros/moveit_servo/src/collision_monitor.cpp +++ b/moveit_ros/moveit_servo/src/collision_monitor.cpp @@ -106,7 +106,7 @@ void CollisionMonitor::checkCollisions() if (servo_params_.check_collisions) { // Fetch latest robot state using planning scene instead of state monitor due to - // https://github.com/ros-planning/moveit2/issues/2748 + // https://github.com/moveit/moveit2/issues/2748 robot_state_ = planning_scene_monitor_->getPlanningScene()->getCurrentState(); // This must be called before doing collision checking. robot_state_.updateCollisionBodyTransforms(); diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp index ea1512984e..66b0866819 100644 --- a/moveit_ros/moveit_servo/src/utils/common.cpp +++ b/moveit_ros/moveit_servo/src/utils/common.cpp @@ -343,7 +343,7 @@ std::pair velocityScalingFactorForSingularity(const moveit:: const bool moving_towards_singularity = vector_towards_singularity.dot(target_delta_x) > 0; // Compute upper condition variable threshold based on if we are moving towards or away from singularity. - // See https://github.com/ros-planning/moveit2/pull/620#issuecomment-1201418258 for visual explanation. + // See https://github.com/moveit/moveit2/pull/620#issuecomment-1201418258 for visual explanation. double upper_threshold; if (moving_towards_singularity) { diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml index d82f4d5e9c..e080fff0a6 100644 --- a/moveit_ros/occupancy_map_monitor/package.xml +++ b/moveit_ros/occupancy_map_monitor/package.xml @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Jon Binney diff --git a/moveit_ros/perception/package.xml b/moveit_ros/perception/package.xml index 8b55305797..911168e511 100644 --- a/moveit_ros/perception/package.xml +++ b/moveit_ros/perception/package.xml @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Jon Binney diff --git a/moveit_ros/planning/package.xml b/moveit_ros/planning/package.xml index 51aa478867..57594b9201 100644 --- a/moveit_ros/planning/package.xml +++ b/moveit_ros/planning/package.xml @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta 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 d7a19e5137..648cd47162 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 @@ -542,7 +542,7 @@ void PlanningSceneMonitor::getMonitoredTopics(std::vector& topics) if (collision_object_subscriber_) { // TODO (anasarrak) This has been changed to subscriber on Moveit, look at - // https://github.com/ros-planning/moveit/pull/1406/files/cb9488312c00e9c8949d89b363766f092330954d#diff-fb6e26ecc9a73d59dbdae3f3e08145e6 + // https://github.com/moveit/moveit/pull/1406/files/cb9488312c00e9c8949d89b363766f092330954d#diff-fb6e26ecc9a73d59dbdae3f3e08145e6 topics.push_back(collision_object_subscriber_->get_topic_name()); } if (planning_scene_world_subscriber_) diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml index c099db13c9..70be0e1dea 100644 --- a/moveit_ros/planning_interface/package.xml +++ b/moveit_ros/planning_interface/package.xml @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp index 429dd9d802..370d2f72df 100644 --- a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp +++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp @@ -36,7 +36,7 @@ /* Author: Tyler Weaver, Boston Cleek */ /* These integration tests are based on the tutorials for using move_group: - * https://ros-planning.github.io/moveit_tutorials/doc/move_group_interface/move_group_interface_tutorial.html + * https://moveit.github.io/moveit_tutorials/doc/move_group_interface/move_group_interface_tutorial.html */ // C++ diff --git a/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp b/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp index faad657180..b866015e00 100644 --- a/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp +++ b/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp @@ -36,7 +36,7 @@ /* Author: Tyler Weaver */ /* These integration tests are based on the tutorials for using move_group to do a pick and place: - * https://ros-planning.github.io/moveit_tutorials/doc/pick_place/pick_place_tutorial.html + * https://moveit.github.io/moveit_tutorials/doc/pick_place/pick_place_tutorial.html */ // C++ diff --git a/moveit_ros/planning_interface/test/subframes_test.cpp b/moveit_ros/planning_interface/test/subframes_test.cpp index f87eab588d..1f07dd30d8 100644 --- a/moveit_ros/planning_interface/test/subframes_test.cpp +++ b/moveit_ros/planning_interface/test/subframes_test.cpp @@ -36,7 +36,7 @@ /* Author: Felix von Drigalski, Jacob Aas, Tyler Weaver, Boston Cleek */ /* This integration test is based on the tutorial for using subframes - * https://ros-planning.github.io/moveit_tutorials/doc/subframes/subframes_tutorial.html + * https://moveit.github.io/moveit_tutorials/doc/subframes/subframes_tutorial.html */ // C++ diff --git a/moveit_ros/robot_interaction/package.xml b/moveit_ros/robot_interaction/package.xml index 7eca45cff8..c517ff08c0 100644 --- a/moveit_ros/robot_interaction/package.xml +++ b/moveit_ros/robot_interaction/package.xml @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan diff --git a/moveit_ros/tests/package.xml b/moveit_ros/tests/package.xml index d7914c34ff..4186ca7e50 100644 --- a/moveit_ros/tests/package.xml +++ b/moveit_ros/tests/package.xml @@ -9,8 +9,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Sebastian Jahr diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml index 31df0e7855..3696e3e69f 100644 --- a/moveit_ros/visualization/package.xml +++ b/moveit_ros/visualization/package.xml @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Dave Coleman diff --git a/moveit_ros/warehouse/package.xml b/moveit_ros/warehouse/package.xml index 4c651855d3..9869cbdb6b 100644 --- a/moveit_ros/warehouse/package.xml +++ b/moveit_ros/warehouse/package.xml @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan diff --git a/moveit_setup_assistant/moveit_setup_assistant/package.xml b/moveit_setup_assistant/moveit_setup_assistant/package.xml index 31c27e6344..f21d33a575 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/package.xml +++ b/moveit_setup_assistant/moveit_setup_assistant/package.xml @@ -13,8 +13,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 David V. Lu!! Dave Coleman @@ -31,7 +31,7 @@ moveit_setup_controllers moveit_setup_core_plugins moveit_setup_app_plugins - + moveit_resources_panda_moveit_config diff --git a/moveit_setup_assistant/moveit_setup_framework/templates/package.xml.template b/moveit_setup_assistant/moveit_setup_framework/templates/package.xml.template index b27a9fa44f..dc647a10ce 100644 --- a/moveit_setup_assistant/moveit_setup_framework/templates/package.xml.template +++ b/moveit_setup_assistant/moveit_setup_framework/templates/package.xml.template @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org/ - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 [AUTHOR_NAME] From 672e0ecd48f471fe05057f81e6233272a692a156 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Fri, 31 May 2024 13:55:12 +0000 Subject: [PATCH 05/20] Fix segmentation fault in mesh_filter/gl_renderer (#2834) --------- Co-authored-by: Sebastian Jahr --- moveit_ros/perception/mesh_filter/src/gl_renderer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp index 000dc7ff7b..3c2d7d29e3 100644 --- a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp +++ b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp @@ -387,7 +387,7 @@ void mesh_filter::GLRenderer::createGLContext() if (context_it == s_context.end()) { - s_context.at(thread_id) = std::pair(1, 0); + s_context.insert({ thread_id, std::pair(1, 0) }); glutInitWindowPosition(glutGet(GLUT_SCREEN_WIDTH) + 30000, 0); glutInitWindowSize(1, 1); From 627d28229e314164d68dc6aed0deb896142e80a9 Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Thu, 6 Jun 2024 16:32:27 +0200 Subject: [PATCH 06/20] Add utility functions to get limits and trajectory message (#2861) Co-authored-by: Mario Prats --- .../moveit/robot_model/joint_model_group.h | 15 ++++++ .../robot_model/src/joint_model_group.cpp | 51 +++++++++++++++++++ .../trajectory_processing/trajectory_tools.h | 8 +++ .../src/trajectory_tools.cpp | 45 ++++++++++++++++ 4 files changed, 119 insertions(+) diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h index ad8ff4a0cf..c63112fde4 100644 --- a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h +++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h @@ -586,6 +586,21 @@ class JointModelGroup bool computeJointVariableIndices(const std::vector& joint_names, std::vector& joint_bijection) const; + /** + * @brief Get the lower and upper position limits of all active variables in the group. + * + * @return std::pair Containing the lower and upper joint limits for all active variables. + */ + [[nodiscard]] std::pair getLowerAndUpperLimits() const; + + /** + * @brief Gets the pair of maximum joint velocities/accelerations for a given group. Asserts that the group contains + * only single-variable joints, + * @details In case of asymmetric velocity or acceleration limits, this function will return the most limiting component. + * @return std::pair Containing the velocity and acceleration limits + */ + [[nodiscard]] std::pair getMaxVelocitiesAndAccelerationBounds() const; + protected: /** \brief Update the variable values for the state of a group with respect to the mimic joints. This only updates mimic joints that have the parent in this group. If there is a joint mimicking one that is outside the group, diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp index a9986368e3..2776bb0c9d 100644 --- a/moveit_core/robot_model/src/joint_model_group.cpp +++ b/moveit_core/robot_model/src/joint_model_group.cpp @@ -831,5 +831,56 @@ bool JointModelGroup::isValidVelocityMove(const double* from_joint_pose, const d return true; } + +std::pair JointModelGroup::getLowerAndUpperLimits() const +{ + // Get the group joints lower/upper position limits. + Eigen::VectorXd lower_limits(active_variable_count_); + Eigen::VectorXd upper_limits(active_variable_count_); + int variable_index = 0; + for (const moveit::core::JointModel::Bounds* joint_bounds : active_joint_models_bounds_) + { + for (const moveit::core::VariableBounds& variable_bounds : *joint_bounds) + { + lower_limits[variable_index] = variable_bounds.min_position_; + upper_limits[variable_index] = variable_bounds.max_position_; + variable_index++; + } + } + return { lower_limits, upper_limits }; +} + +std::pair JointModelGroup::getMaxVelocitiesAndAccelerationBounds() const +{ + Eigen::VectorXd max_joint_velocities = Eigen::VectorXd::Constant(active_variable_count_, 0.0); + Eigen::VectorXd max_joint_accelerations = Eigen::VectorXd::Constant(active_variable_count_, 0.0); + // Check if variable count matches number of joint model bounds + if (active_joint_models_bounds_.size() != active_variable_count_) + { + // TODO(sjahr) Support multiple variables + RCLCPP_ERROR(getLogger(), "Number of active joint models does not match number of active joint model bounds. " + "Returning bound vectors with zeros"); + return { max_joint_velocities, max_joint_accelerations }; + } + // Check if the joint group contains multi-dof joints + for (const auto& bound : active_joint_models_bounds_) + { + if (bound->size() != 1) + { + RCLCPP_ERROR(getLogger(), "Multi-dof joints are currently not supported by " + "getMaxVelocitiesAndAccelerationBounds(). Returning bound vectors with zeros."); + return { max_joint_velocities, max_joint_accelerations }; + } + } + // Populate max_joint_velocity and acceleration vectors + for (std::size_t i = 0; i < active_joint_models_bounds_.size(); ++i) + { + max_joint_velocities[i] = std::min(-active_joint_models_bounds_[i]->at(0).min_velocity_, + active_joint_models_bounds_[i]->at(0).max_velocity_); + max_joint_accelerations[i] = std::min(-active_joint_models_bounds_[i]->at(0).min_acceleration_, + active_joint_models_bounds_[i]->at(0).max_acceleration_); + } + return { max_joint_velocities, max_joint_accelerations }; +} } // end of namespace core } // end of namespace moveit diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h index 2e8d600cb3..876f3af06c 100644 --- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h +++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h @@ -38,6 +38,7 @@ #include #include +#include namespace trajectory_processing { @@ -79,4 +80,11 @@ bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor, double acceleration_scaling_factor, bool mitigate_overshoot = false, double overshoot_threshold = 0.01); + +/** + * @brief Converts a `trajectory_processing::Trajectory` into a `JointTrajectory` message with a given sampling rate. + */ +[[nodiscard]] trajectory_msgs::msg::JointTrajectory +createTrajectoryMessage(const std::vector& joint_names, + const trajectory_processing::Trajectory& trajectory, const int sampling_rate); } // namespace trajectory_processing diff --git a/moveit_core/trajectory_processing/src/trajectory_tools.cpp b/moveit_core/trajectory_processing/src/trajectory_tools.cpp index 6ce5a412e6..b15f0ca9a3 100644 --- a/moveit_core/trajectory_processing/src/trajectory_tools.cpp +++ b/moveit_core/trajectory_processing/src/trajectory_tools.cpp @@ -37,8 +37,20 @@ #include #include #include + +#include +#include namespace trajectory_processing { + +namespace +{ +rclcpp::Logger getLogger() +{ + return moveit::getLogger("moveit.trajectory_processing.trajectory_tools"); +} +} // namespace + bool isTrajectoryEmpty(const moveit_msgs::msg::RobotTrajectory& trajectory) { return trajectory.joint_trajectory.points.empty() && trajectory.multi_dof_joint_trajectory.points.empty(); @@ -62,4 +74,37 @@ bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, double return time_param.applySmoothing(trajectory, velocity_scaling_factor, acceleration_scaling_factor, mitigate_overshoot, overshoot_threshold); } + +trajectory_msgs::msg::JointTrajectory createTrajectoryMessage(const std::vector& joint_names, + const trajectory_processing::Trajectory& trajectory, + const int sampling_rate) +{ + trajectory_msgs::msg::JointTrajectory trajectory_msg; + if (sampling_rate <= 0) + { + RCLCPP_ERROR(getLogger(), "Cannot sample trajectory with sampling rate <= 0. Returning empty trajectory."); + return trajectory_msg; + } + trajectory_msg.joint_names = joint_names; + const double time_step = 1.0 / static_cast(sampling_rate); + const int n_samples = static_cast(trajectory.getDuration() / time_step) + 1; + trajectory_msg.points.reserve(n_samples); + for (int sample = 0; sample < n_samples; ++sample) + { + const double t = sample * time_step; + trajectory_msgs::msg::JointTrajectoryPoint point; + auto position = trajectory.getPosition(t); + auto velocity = trajectory.getVelocity(t); + auto acceleration = trajectory.getAcceleration(t); + for (std::size_t i = 0; i < joint_names.size(); i++) + { + point.positions.push_back(position[i]); + point.velocities.push_back(velocity[i]); + point.accelerations.push_back(acceleration[i]); + } + point.time_from_start = rclcpp::Duration(std::chrono::duration(t)); + trajectory_msg.points.push_back(std::move(point)); + } + return trajectory_msg; +} } // namespace trajectory_processing From 42663ad7b5c6341a9ce57d771b2db93c3debd20e Mon Sep 17 00:00:00 2001 From: s-trinh Date: Wed, 12 Jun 2024 17:17:51 +0200 Subject: [PATCH 07/20] At least on humble, error is: 'robot_description_kinematics.arm.min_joint_config_distance' has invalid type: expected [double] got [integer]. (#2865) --- moveit_kinematics/cached_ik_kinematics_plugin/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/README.md b/moveit_kinematics/cached_ik_kinematics_plugin/README.md index d935fc6869..3d7f7c3b05 100644 --- a/moveit_kinematics/cached_ik_kinematics_plugin/README.md +++ b/moveit_kinematics/cached_ik_kinematics_plugin/README.md @@ -17,8 +17,8 @@ to this: kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin # optional parameters for caching: max_cache_size: 10000 - min_pose_distance: 1 - min_joint_config_distance: 4 + min_pose_distance: 1.0 + min_joint_config_distance: 4.0 The cache size can be controlled with an absolute cap (`max_cache_size`) or with a distance threshold on the end effector pose (`min_pose_distance`) or robot joint state (`min_joint_config_distance`). Normally, the cache files are saved to the current working directory (which is usually `${HOME}/.ros`, not the directory where you ran `roslaunch`), in a subdirectory for each robot. Possible values for `kinematics_solver` are: From 19a4b73735f2973d9c9383b335bb4cb60971d037 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Fri, 24 May 2024 15:32:04 +0000 Subject: [PATCH 08/20] Update README build badges for Jazzy,Rolling --- README.md | 83 ++++++++++++++++++++++++++----------------------------- 1 file changed, 39 insertions(+), 44 deletions(-) diff --git a/README.md b/README.md index 2fe6e09da9..fa3d75cc09 100644 --- a/README.md +++ b/README.md @@ -56,47 +56,42 @@ research and innovation programme under grant agreement no. 732287. See [How To Generate API Doxygen Reference Locally](https://moveit.picknik.ai/main/doc/how_to_guides/how_to_generate_api_doxygen_locally.html). # Buildfarm -| Package | Humble Binary | Iron Binary | Rolling Binary | -|:---:|:---:|:---:|:---:| -| geometric_shapes | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | -| moveit | [![Build 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Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | -| moveit_ros_perception | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | -| moveit_ros_planning | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | -| moveit_ros_planning_interface | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | -| moveit_ros_robot_interaction | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | -| moveit_ros_visualization | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | -| moveit_ros_warehouse | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | -| moveit_runtime | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | -| moveit_servo | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | -| moveit_setup_app_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | -| moveit_setup_assistant | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | -| moveit_setup_controllers | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | -| moveit_setup_core_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | -| moveit_setup_framework | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | -| moveit_setup_srdf_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | -| moveit_simple_controller_manager | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | -| pilz_industrial_motion_planner | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | -| pilz_industrial_motion_planner_testutils | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | -| random_numbers | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__random_numbers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | -| srdfdom | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__srdfdom__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | -| warehouse_ros | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | -| warehouse_ros_sqlite | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | +| Package | Humble Binary | Iron Binary | Rolling Binary | Jazzy Binary | +|:---:|:---:|:---:|:---:|:---:| +| geometric_shapes | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary) | +| moveit | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit__ubuntu_noble_amd64__binary) | +| moveit_common | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_common__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_common__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_common__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_common__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_common__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_common__ubuntu_noble_amd64__binary) | +| moveit_core | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_core__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_core__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_core__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_core__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_core__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_core__ubuntu_noble_amd64__binary) | +| moveit_hybrid_planning | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary) | +| moveit_kinematics | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary) | +| moveit_msgs | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary) | +| moveit_planners | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_planners__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_planners__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_planners__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_planners__ubuntu_noble_amd64__binary) | +| moveit_planners_ompl | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary) | +| moveit_planners_stomp | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary) | +| moveit_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary) | +| moveit_resources | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_resources__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_resources__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_resources__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_resources__ubuntu_noble_amd64__binary) | +| moveit_ros | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros__ubuntu_noble_amd64__binary) | +| moveit_ros_benchmarks | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary) | +| moveit_ros_move_group | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary) | +| moveit_ros_occupancy_map_monitor | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary) | +| moveit_ros_perception | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary) | +| moveit_ros_planning | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary) | +| moveit_ros_planning_interface | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary) | +| moveit_ros_robot_interaction | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary) | +| moveit_ros_visualization | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary) | +| moveit_ros_warehouse | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary) | +| moveit_runtime | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_runtime__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_runtime__ubuntu_noble_amd64__binary) | +| moveit_servo | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_servo__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_servo__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_servo__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_servo__ubuntu_noble_amd64__binary) | +| moveit_setup_app_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary) | +| moveit_setup_assistant | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary) | +| moveit_setup_controllers | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | [![Build 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Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__srdfdom__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__srdfdom__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__srdfdom__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__srdfdom__ubuntu_noble_amd64__binary) | +| warehouse_ros | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary) | +| warehouse_ros_sqlite | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary) | From 131429dca6f39d8964d98ee5aa6cb9e078ee7406 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Fri, 24 May 2024 15:48:38 +0000 Subject: [PATCH 09/20] Temporarily disable testspace in CI See https://github.com/moveit/moveit2/issues/2852 --- .github/workflows/ci.yaml | 20 ++++++++++++-------- .github/workflows/sonar.yaml | 9 +++++---- 2 files changed, 17 insertions(+), 12 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 547587e976..43dc97110a 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -83,10 +83,12 @@ jobs: sudo rm -rf /usr/local df -h - uses: actions/checkout@v4 - - uses: testspace-com/setup-testspace@v1 - if: github.repository == 'moveit/moveit2' - with: - domain: ros-planning +# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org +# See: https://github.com/moveit/moveit2/issues/2852 +# - uses: testspace-com/setup-testspace@v1 +# if: github.repository == 'moveit/moveit2' +# with: +# domain: moveit - name: Get latest release date for rosdistro id: rosdistro_release_date uses: JafarAbdi/latest-rosdistro-release-date-action@main @@ -140,10 +142,12 @@ jobs: name: Run industrial_ci uses: ros-industrial/industrial_ci@master env: ${{ matrix.env }} - - name: Push result to Testspace - if: always() && (github.repository == 'moveit/moveit2') - run: | - testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml" +# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org +# See: https://github.com/moveit/moveit2/issues/2852 +# - name: Push result to Testspace +# if: always() && (github.repository == 'moveit/moveit2') +# run: | +# testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml" - name: Upload test artifacts (on failure) uses: actions/upload-artifact@v4 if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml index 0d46761490..083d6c07ca 100644 --- a/.github/workflows/sonar.yaml +++ b/.github/workflows/sonar.yaml @@ -56,10 +56,11 @@ jobs: sudo rm -rf /usr/local df -h - uses: actions/checkout@v4 - - uses: testspace-com/setup-testspace@v1 - if: github.repository == 'moveit/moveit2' - with: - domain: ros-planning +# Testspace disabled temporarily: https://github.com/moveit/moveit2/issues/2852 +# - uses: testspace-com/setup-testspace@v1 +# if: github.repository == 'moveit/moveit2' +# with: +# domain: ros-planning - name: Get latest release date for rosdistro id: rosdistro_release_date uses: JafarAbdi/latest-rosdistro-release-date-action@main From 6b5494eb74feb8b65221ed784d94d9da6c629456 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Fri, 24 May 2024 15:16:17 +0000 Subject: [PATCH 10/20] Test CI on ROS 2 Jazzy --- .github/workflows/ci.yaml | 4 +++- .github/workflows/docker.yaml | 6 +++--- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 43dc97110a..49d6d4146d 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -20,7 +20,7 @@ jobs: - IMAGE: rolling-ci CCOV: true ROS_DISTRO: rolling - - IMAGE: rolling-ci-testing + - IMAGE: rolling-ci ROS_DISTRO: rolling IKFAST_TEST: true CLANG_TIDY: pedantic @@ -28,6 +28,8 @@ jobs: ROS_DISTRO: humble - IMAGE: humble-ci-testing ROS_DISTRO: humble + - IMAGE: jazzy-ci + ROS_DISTRO: jazzy env: CXXFLAGS: >- -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 2517883995..f597653f9d 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -19,7 +19,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling] + ROS_DISTRO: [rolling, jazzy] runs-on: ubuntu-latest permissions: packages: write @@ -72,7 +72,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling] + ROS_DISTRO: [rolling, jazzy] runs-on: ubuntu-latest permissions: packages: write @@ -128,7 +128,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling] + ROS_DISTRO: [rolling, jazzy] runs-on: ubuntu-latest permissions: packages: write From 871b9c305d610ed65bd668237c0e3f2e9e2c707c Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Fri, 24 May 2024 15:35:11 +0000 Subject: [PATCH 11/20] Restructure source dependencies for Jammy, Noble distros * Only source generate_parameter_library for Humble and Iron * Depend on moveit2.repos for Jazzy, Rolling * Switch GitHub orgs from ros-planning to "moveit" --- moveit2.repos | 12 ++++++------ moveit2_humble.repos | 5 +++++ moveit2_iron.repos | 5 +++++ moveit2_rolling.repos | 9 --------- 4 files changed, 16 insertions(+), 15 deletions(-) create mode 100644 moveit2_humble.repos create mode 100644 moveit2_iron.repos delete mode 100644 moveit2_rolling.repos diff --git a/moveit2.repos b/moveit2.repos index c0f93c4298..aec6f2851e 100644 --- a/moveit2.repos +++ b/moveit2.repos @@ -1,14 +1,14 @@ repositories: # Keep moveit_* repos here because they are released with moveit + geometric_shapes: + type: git + url: https://github.com/moveit/geometric_shapes.git + version: ros2 moveit_msgs: type: git - url: https://github.com/ros-planning/moveit_msgs.git + url: https://github.com/moveit/moveit_msgs.git version: ros2 moveit_resources: type: git - url: https://github.com/ros-planning/moveit_resources.git + url: https://github.com/moveit/moveit_resources.git version: ros2 - generate_parameter_library: - type: git - url: https://github.com/PickNikRobotics/generate_parameter_library.git - version: 0.3.7 diff --git a/moveit2_humble.repos b/moveit2_humble.repos new file mode 100644 index 0000000000..71a9316f22 --- /dev/null +++ b/moveit2_humble.repos @@ -0,0 +1,5 @@ +repositories: + generate_parameter_library: + type: git + url: https://github.com/PickNikRobotics/generate_parameter_library.git + version: 0.3.7 diff --git a/moveit2_iron.repos b/moveit2_iron.repos new file mode 100644 index 0000000000..71a9316f22 --- /dev/null +++ b/moveit2_iron.repos @@ -0,0 +1,5 @@ +repositories: + generate_parameter_library: + type: git + url: https://github.com/PickNikRobotics/generate_parameter_library.git + version: 0.3.7 diff --git a/moveit2_rolling.repos b/moveit2_rolling.repos deleted file mode 100644 index 4d39d584b4..0000000000 --- a/moveit2_rolling.repos +++ /dev/null @@ -1,9 +0,0 @@ -repositories: - octomap: - type: git - url: https://github.com/octomap/octomap.git - version: devel - geometric_shapes: - type: git - url: https://github.com/moveit/geometric_shapes.git - version: ros2 From 891541ec621e59d8cf463cbc2ed5d2a8f063975f Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Fri, 7 Jun 2024 16:07:57 +0000 Subject: [PATCH 12/20] Enforce liboctomap-dev by using a cmake version range --- moveit_core/CMakeLists.txt | 6 ++++-- moveit_core/collision_detection/CMakeLists.txt | 2 +- moveit_core/collision_distance_field/CMakeLists.txt | 4 ++-- moveit_core/distance_field/CMakeLists.txt | 4 ++-- moveit_core/package.xml | 6 ++++++ moveit_core/planning_scene/CMakeLists.txt | 2 +- moveit_ros/occupancy_map_monitor/CMakeLists.txt | 4 +++- moveit_ros/occupancy_map_monitor/package.xml | 6 ++++++ 8 files changed, 25 insertions(+), 9 deletions(-) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index afdf3d515a..90b2851ded 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -18,7 +18,9 @@ find_package(geometric_shapes REQUIRED) find_package(geometry_msgs REQUIRED) find_package(kdl_parser REQUIRED) find_package(moveit_msgs REQUIRED) -find_package(OCTOMAP REQUIRED) +# Enforce system version liboctomap-dev +# https://github.com/moveit/moveit2/issues/2862 +find_package(octomap 1.9.7...<1.10.0 REQUIRED) find_package(octomap_msgs REQUIRED) find_package(osqp REQUIRED) find_package(pluginlib REQUIRED) @@ -114,7 +116,7 @@ ament_export_dependencies( geometry_msgs kdl_parser moveit_msgs - OCTOMAP + octomap octomap_msgs osqp pluginlib diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt index 05a2c32dc6..cd90e4d5c5 100644 --- a/moveit_core/collision_detection/CMakeLists.txt +++ b/moveit_core/collision_detection/CMakeLists.txt @@ -28,7 +28,7 @@ ament_target_dependencies( visualization_msgs tf2_eigen geometric_shapes - OCTOMAP) + octomap) target_include_directories( moveit_collision_detection BEFORE PUBLIC $) diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt index 7a4774e04c..63b63a013d 100644 --- a/moveit_core/collision_distance_field/CMakeLists.txt +++ b/moveit_core/collision_distance_field/CMakeLists.txt @@ -16,7 +16,7 @@ set_target_properties(moveit_collision_distance_field PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") ament_target_dependencies(moveit_collision_distance_field urdf - visualization_msgs tf2_eigen geometric_shapes OCTOMAP) + visualization_msgs tf2_eigen geometric_shapes octomap) target_link_libraries( moveit_collision_distance_field moveit_planning_scene moveit_distance_field @@ -34,7 +34,7 @@ if(BUILD_TESTING) ament_add_gtest(test_collision_distance_field test/test_collision_distance_field.cpp) ament_target_dependencies(test_collision_distance_field geometric_shapes - OCTOMAP srdfdom resource_retriever) + octomap srdfdom resource_retriever) target_link_libraries( test_collision_distance_field moveit_collision_distance_field diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt index ad1700d676..c70886f12f 100644 --- a/moveit_core/distance_field/CMakeLists.txt +++ b/moveit_core/distance_field/CMakeLists.txt @@ -17,7 +17,7 @@ ament_target_dependencies( visualization_msgs geometric_shapes tf2_eigen - OCTOMAP) + octomap) install(DIRECTORY include/ DESTINATION include/moveit_core) @@ -28,5 +28,5 @@ if(BUILD_TESTING) target_link_libraries(test_voxel_grid moveit_distance_field) ament_add_gtest(test_distance_field test/test_distance_field.cpp) - target_link_libraries(test_distance_field moveit_distance_field) + target_link_libraries(test_distance_field moveit_distance_field octomap) endif() diff --git a/moveit_core/package.xml b/moveit_core/package.xml index 434aef7c82..f099474c26 100644 --- a/moveit_core/package.xml +++ b/moveit_core/package.xml @@ -41,7 +41,13 @@ libfcl-dev moveit_common moveit_msgs + octomap_msgs osqp_vendor pluginlib diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt index 91899f3b79..debb3e5b65 100644 --- a/moveit_core/planning_scene/CMakeLists.txt +++ b/moveit_core/planning_scene/CMakeLists.txt @@ -17,7 +17,7 @@ ament_target_dependencies( urdfdom urdfdom_headers octomap_msgs - OCTOMAP) + octomap) target_link_libraries( moveit_planning_scene diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt index f10094d162..b8dd549bcb 100644 --- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt +++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt @@ -13,7 +13,9 @@ find_package(moveit_core REQUIRED) find_package(moveit_msgs REQUIRED) find_package(pluginlib REQUIRED) find_package(Eigen3 REQUIRED) -find_package(octomap REQUIRED) +# Enforce system version liboctomap-dev +# https://github.com/moveit/moveit2/issues/2862 +find_package(octomap 1.9.7...<1.10.0 REQUIRED) find_package(geometric_shapes REQUIRED) find_package(tf2_ros REQUIRED) diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml index e080fff0a6..44fdf48b47 100644 --- a/moveit_ros/occupancy_map_monitor/package.xml +++ b/moveit_ros/occupancy_map_monitor/package.xml @@ -26,7 +26,13 @@ rclcpp moveit_core moveit_msgs + pluginlib tf2_ros geometric_shapes From d404c76c0cb7f94707dba3dfeb26c3d556364c39 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Fri, 7 Jun 2024 23:10:16 +0200 Subject: [PATCH 13/20] Revert "Simplify controller manager namespacing (#2210)" This reverts commit 55df0bccd5e884649780b4ceeee80891e563b57b. The deprecated constructor was being used in the same file for the exact use case of enabling namespaces that are not specified by the parameter. There is no replacement for supporting a dynamic server lookup, however the parameter logic could still use simplification. --- .../src/controller_manager_plugin.cpp | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp index 89b5a7bb71..eb7b2e8205 100644 --- a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp +++ b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp @@ -255,8 +255,7 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan * \brief Configure interface with namespace * @param ns namespace of ros_control node (without /controller_manager/) */ - [[deprecated("Ros2ControlManager constructor with namespace is deprecated. Set namespace via the " - "ros_control_namespace parameter.")]] Ros2ControlManager(const std::string& ns) + Ros2ControlManager(const std::string& ns) : ns_(ns), loader_("moveit_ros_control_interface", "moveit_ros_control_interface::ControllerHandleAllocator") { RCLCPP_INFO_STREAM(getLogger(), "Started moveit_ros_control_interface::Ros2ControlManager for namespace " << ns_); @@ -265,12 +264,18 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan void initialize(const rclcpp::Node::SharedPtr& node) override { node_ = node; - // Set the namespace from the ros_control_namespace parameter, or default to "/" - if (!node_->has_parameter("ros_control_namespace")) + if (!ns_.empty()) { - ns_ = node_->declare_parameter("ros_control_namespace", "/"); + if (!node_->has_parameter("ros_control_namespace")) + { + ns_ = node_->declare_parameter("ros_control_namespace", "/"); + } + else + { + node_->get_parameter("ros_control_namespace", ns_); + } } - else + else if (node->has_parameter("ros_control_namespace")) { node_->get_parameter("ros_control_namespace", ns_); RCLCPP_INFO_STREAM(getLogger(), "Namespace for controller manager was specified, namespace: " << ns_); From 2740723f0512951b2be80336c7f6ddcab95c894a Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Fri, 24 May 2024 17:08:41 +0000 Subject: [PATCH 14/20] Silence clang warnings --------- Co-authored-by: Robert Haschke --- .../collision_detection/src/collision_octomap_filter.cpp | 6 +++--- moveit_core/distance_field/test/test_distance_field.cpp | 3 --- .../templates/ikfast61_moveit_plugin_template.cpp | 3 +++ moveit_py/src/moveit/moveit_core/robot_state/robot_state.h | 5 +++++ .../rviz_plugin_render_tools/src/octomap_render.cpp | 3 --- 5 files changed, 11 insertions(+), 9 deletions(-) diff --git a/moveit_core/collision_detection/src/collision_octomap_filter.cpp b/moveit_core/collision_detection/src/collision_octomap_filter.cpp index 3e407db29e..aca52fa2c8 100644 --- a/moveit_core/collision_detection/src/collision_octomap_filter.cpp +++ b/moveit_core/collision_detection/src/collision_octomap_filter.cpp @@ -126,15 +126,15 @@ int collision_detection::refineContactNormals(const World::ObjectConstPtr& objec octree->begin_leafs_bbx(bbx_min, bbx_max); octomap::OcTreeBaseImpl::leaf_bbx_iterator leafs_end = octree->end_leafs_bbx(); - int count = 0; + // int count = 0; for (; it != leafs_end; ++it) { const octomap::point3d pt = it.getCoordinate(); - // double prob = it->getOccupancy(); if (octree->isNodeOccupied(*it)) // magic number! { - count++; node_centers.push_back(pt); + // count++; + // double prob = it->getOccupancy(); // RCLCPP_INFO(getLogger(), "Adding point %d with prob %.3f at [%.3f, %.3f, %.3f]", // count, prob, pt.x(), pt.y(), pt.z()); } diff --git a/moveit_core/distance_field/test/test_distance_field.cpp b/moveit_core/distance_field/test/test_distance_field.cpp index 5792eaa336..62cbfe6d63 100644 --- a/moveit_core/distance_field/test/test_distance_field.cpp +++ b/moveit_core/distance_field/test/test_distance_field.cpp @@ -807,20 +807,17 @@ TEST(TestSignedPropagationDistanceField, TestPerformance) PERF_ORIGIN_Z, PERF_MAX_DIST, true); EigenSTL::vector_Vector3d bad_vec; - unsigned int count = 0; for (unsigned int z = UNIFORM_DISTANCE; z < worstdfu.getZNumCells() - UNIFORM_DISTANCE; z += UNIFORM_DISTANCE) { for (unsigned int x = UNIFORM_DISTANCE; x < worstdfu.getXNumCells() - UNIFORM_DISTANCE; x += UNIFORM_DISTANCE) { for (unsigned int y = UNIFORM_DISTANCE; y < worstdfu.getYNumCells() - UNIFORM_DISTANCE; y += UNIFORM_DISTANCE) { - count++; Eigen::Vector3d loc; bool valid = worstdfu.gridToWorld(x, y, z, loc.x(), loc.y(), loc.z()); if (!valid) { - // RCLCPP_WARN("distance_field", "Something wrong"); continue; } bad_vec.push_back(loc); diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp index 6d4671ea90..fdba5f1f5b 100644 --- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp +++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp @@ -808,7 +808,10 @@ bool IKFastKinematicsPlugin::getPositionFK(const std::vector& link_ return false; } +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wvla-cxx-extension" IkReal angles[num_joints_]; +#pragma clang diagnostic pop for (unsigned char i = 0; i < num_joints_; ++i) angles[i] = joint_angles[i]; diff --git a/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h b/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h index e688705898..7ac1497b29 100644 --- a/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h +++ b/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h @@ -38,7 +38,12 @@ #include #include +#pragma GCC diagnostic push +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic ignored "-Wmaybe-uninitialized" +#endif #include +#pragma GCC diagnostic pop #include #include #include diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp index 5a36c4d082..393d11bc9e 100755 --- a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp +++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp @@ -159,7 +159,6 @@ void OcTreeRender::octreeDecoding(const std::shared_ptr& unsigned int render_mode_mask = static_cast(octree_voxel_rendering); - size_t point_count = 0; { int step_size = 1 << (octree->getTreeDepth() - octree_depth_); // for pruning of occluded voxels @@ -242,8 +241,6 @@ void OcTreeRender::octreeDecoding(const std::shared_ptr& // push to point vectors unsigned int depth = it.getDepth(); point_buf[depth - 1].push_back(new_point); - - ++point_count; } } } From 227c03c9eb5f3f62f0146efa25344c7f6f2ff650 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Sat, 8 Jun 2024 14:00:39 +0200 Subject: [PATCH 15/20] Fix clang-tidy config - AnalyzeTemporaryDtors was removed - disable performance-enum-size --- .clang-tidy | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.clang-tidy b/.clang-tidy index 83fc26e052..6e9e400699 100644 --- a/.clang-tidy +++ b/.clang-tidy @@ -1,6 +1,7 @@ --- Checks: '-*, performance-*, + -performance-enum-size, llvm-namespace-comment, modernize-redundant-void-arg, modernize-use-nullptr, @@ -21,7 +22,6 @@ Checks: '-*, readability-static-definition-in-anonymous-namespace, ' HeaderFilterRegex: '' -AnalyzeTemporaryDtors: false CheckOptions: - key: llvm-namespace-comment.ShortNamespaceLines value: '10' From 2af2256d2931ec287e6cacfb5ebcb01fb7d97e67 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Sat, 8 Jun 2024 17:02:13 +0200 Subject: [PATCH 16/20] Apply clang-tidy fixes --- moveit_core/collision_detection/src/world.cpp | 1 + .../constraint_samplers/test/pr2_arm_ik.cpp | 2 +- .../robot_model/src/prismatic_joint_model.cpp | 2 +- .../robot_model/src/revolute_joint_model.cpp | 2 +- .../robot_state/test/robot_state_test.cpp | 2 +- .../moveit/robot_trajectory/robot_trajectory.h | 2 +- .../robot_trajectory/src/robot_trajectory.cpp | 4 ++-- moveit_core/version/version.cpp | 2 +- .../src/joint_limits_container.cpp | 16 ++++++++-------- .../test/test_utils.cpp | 6 +++--- .../test/test_utils.h | 2 +- .../src/trajectory_execution_manager.cpp | 9 +++++---- .../src/planning_scene_interface.cpp | 9 ++++----- .../moveit_setup_framework/data/srdf_config.hpp | 1 + .../src/collision_linear_model.cpp | 4 ++-- 15 files changed, 33 insertions(+), 31 deletions(-) diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp index b27a2b5b15..eae07cf01c 100644 --- a/moveit_core/collision_detection/src/world.cpp +++ b/moveit_core/collision_detection/src/world.cpp @@ -109,6 +109,7 @@ void World::addToObject(const std::string& object_id, const Eigen::Isometry3d& p std::vector World::getObjectIds() const { std::vector ids; + ids.reserve(objects_.size()); for (const auto& object : objects_) ids.push_back(object.first); return ids; diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp b/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp index 7b97b1cbad..b35496a1a4 100644 --- a/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp +++ b/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp @@ -804,6 +804,6 @@ bool PR2ArmIK::checkJointLimits(const double joint_value, const int joint_num) c jv = angles::normalize_angle(joint_value * angle_multipliers_[joint_num]); } - return !(jv < min_angles_[joint_num] || jv > max_angles_[joint_num]); + return jv >= min_angles_[joint_num] && jv <= max_angles_[joint_num]; } } // namespace pr2_arm_kinematics diff --git a/moveit_core/robot_model/src/prismatic_joint_model.cpp b/moveit_core/robot_model/src/prismatic_joint_model.cpp index e229910d2f..81e9128053 100644 --- a/moveit_core/robot_model/src/prismatic_joint_model.cpp +++ b/moveit_core/robot_model/src/prismatic_joint_model.cpp @@ -79,7 +79,7 @@ void PrismaticJointModel::getVariableDefaultPositions(double* values, const Boun bool PrismaticJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds, double margin) const { - return !(values[0] < bounds[0].min_position_ - margin || values[0] > bounds[0].max_position_ + margin); + return values[0] >= bounds[0].min_position_ - margin && values[0] <= bounds[0].max_position_ + margin; } void PrismaticJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values, diff --git a/moveit_core/robot_model/src/revolute_joint_model.cpp b/moveit_core/robot_model/src/revolute_joint_model.cpp index 1b80b4e2e7..524632159c 100644 --- a/moveit_core/robot_model/src/revolute_joint_model.cpp +++ b/moveit_core/robot_model/src/revolute_joint_model.cpp @@ -189,7 +189,7 @@ bool RevoluteJointModel::satisfiesPositionBounds(const double* values, const Bou } else { - return !(values[0] < bounds[0].min_position_ - margin || values[0] > bounds[0].max_position_ + margin); + return values[0] >= bounds[0].min_position_ - margin && values[0] <= bounds[0].max_position_ + margin; } } diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp index 8fdce99e73..cafb5bf01f 100644 --- a/moveit_core/robot_state/test/robot_state_test.cpp +++ b/moveit_core/robot_state/test/robot_state_test.cpp @@ -95,7 +95,7 @@ void checkJacobian(moveit::core::RobotState& state, const moveit::core::JointMod EXPECT_NEAR(angle, 0.0, 1e-05) << "Angle between Cartesian velocity and Cartesian displacement larger than expected. " "Angle: " << angle << ". displacement: " << displacement.transpose() - << ". Cartesian velocity: " << cartesian_velocity.head<3>().transpose() << std::endl; + << ". Cartesian velocity: " << cartesian_velocity.head<3>().transpose() << '\n'; } } // namespace diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h index 5ca5e86aae..1f77946234 100644 --- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h +++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h @@ -242,7 +242,7 @@ class RobotTrajectory RobotTrajectory& append(const RobotTrajectory& source, double dt, size_t start_index = 0, size_t end_index = std::numeric_limits::max()); - void swap(robot_trajectory::RobotTrajectory& other); + void swap(robot_trajectory::RobotTrajectory& other) noexcept; RobotTrajectory& clear() { diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp index 93d3537a41..8e0eed38be 100644 --- a/moveit_core/robot_trajectory/src/robot_trajectory.cpp +++ b/moveit_core/robot_trajectory/src/robot_trajectory.cpp @@ -121,7 +121,7 @@ double RobotTrajectory::getAverageSegmentDuration() const return getDuration() / static_cast(duration_from_previous_.size()); } -void RobotTrajectory::swap(RobotTrajectory& other) +void RobotTrajectory::swap(RobotTrajectory& other) noexcept { robot_model_.swap(other.robot_model_); std::swap(group_, other.group_); @@ -719,7 +719,7 @@ std::optional toJointTrajectory(const Rob const std::vector& joint_filter) { const auto group = trajectory.getGroup(); - const auto robot_model = trajectory.getRobotModel(); + const auto& robot_model = trajectory.getRobotModel(); const std::vector& jnts = group ? group->getActiveJointModels() : robot_model->getActiveJointModels(); diff --git a/moveit_core/version/version.cpp b/moveit_core/version/version.cpp index 533b482cda..498c61cd4c 100644 --- a/moveit_core/version/version.cpp +++ b/moveit_core/version/version.cpp @@ -47,6 +47,6 @@ int main(int /*argc*/, char** /*argv*/) if (strlen(MOVEIT_GIT_NAME)) std::cout << " (" << MOVEIT_GIT_NAME << ")"; } - std::cout << std::endl; + std::cout << '\n'; return 0; } diff --git a/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp index 2247d9f62d..55127d0334 100644 --- a/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp +++ b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp @@ -118,26 +118,26 @@ std::map::const_iterator JointLimitsContainer::end() co bool JointLimitsContainer::verifyPositionLimit(const std::string& joint_name, double joint_position) const { - return (!(hasLimit(joint_name) && getLimit(joint_name).has_position_limits && - (joint_position < getLimit(joint_name).min_position || joint_position > getLimit(joint_name).max_position))); + return !hasLimit(joint_name) || !getLimit(joint_name).has_position_limits || + (joint_position >= getLimit(joint_name).min_position && joint_position <= getLimit(joint_name).max_position); } bool JointLimitsContainer::verifyVelocityLimit(const std::string& joint_name, double joint_velocity) const { - return (!(hasLimit(joint_name) && getLimit(joint_name).has_velocity_limits && - fabs(joint_velocity) > getLimit(joint_name).max_velocity)); + return !hasLimit(joint_name) || !getLimit(joint_name).has_velocity_limits || + fabs(joint_velocity) <= getLimit(joint_name).max_velocity; } bool JointLimitsContainer::verifyAccelerationLimit(const std::string& joint_name, double joint_acceleration) const { - return (!(hasLimit(joint_name) && getLimit(joint_name).has_acceleration_limits && - fabs(joint_acceleration) > getLimit(joint_name).max_acceleration)); + return !hasLimit(joint_name) || !getLimit(joint_name).has_acceleration_limits || + fabs(joint_acceleration) <= getLimit(joint_name).max_acceleration; } bool JointLimitsContainer::verifyDecelerationLimit(const std::string& joint_name, double joint_acceleration) const { - return (!(hasLimit(joint_name) && getLimit(joint_name).has_deceleration_limits && - fabs(joint_acceleration) > -1.0 * getLimit(joint_name).max_deceleration)); + return !hasLimit(joint_name) || !getLimit(joint_name).has_deceleration_limits || + fabs(joint_acceleration) <= -1.0 * getLimit(joint_name).max_deceleration; } void JointLimitsContainer::updateCommonLimit(const JointLimit& joint_limit, JointLimit& common_limit) diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp index 844fe72de7..5dcfad0cde 100644 --- a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp +++ b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp @@ -301,9 +301,9 @@ bool testutils::checkSLERP(const Eigen::Isometry3d& start_pose, const Eigen::Iso // parallel rotation axis // it is possible the axis opposite is // if the angle is zero, axis is arbitrary - if (!(((start_goal_aa.axis() - start_wp_aa.axis()).norm() < fabs(rot_axis_norm_tolerance)) || - ((start_goal_aa.axis() + start_wp_aa.axis()).norm() < fabs(rot_axis_norm_tolerance)) || - (fabs(start_wp_aa.angle()) < fabs(rot_angle_tolerance)))) + if (((start_goal_aa.axis() - start_wp_aa.axis()).norm() >= fabs(rot_axis_norm_tolerance)) && + ((start_goal_aa.axis() + start_wp_aa.axis()).norm() >= fabs(rot_axis_norm_tolerance)) && + (fabs(start_wp_aa.angle()) >= fabs(rot_angle_tolerance))) { std::cout << "Rotational linearity is violated. \n" << '\n' diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h index 625f70fd23..758c5ecada 100644 --- a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h +++ b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h @@ -477,7 +477,7 @@ checkCartesianRotationalPath(const robot_trajectory::RobotTrajectoryConstPtr& tr inline bool isMonotonouslyDecreasing(const std::vector& vec, double tol) { return std::is_sorted(vec.begin(), vec.end(), [tol](double a, double b) { - return !(std::abs(a - b) < tol || a < b); // true -> a is ordered before b -> list is not sorted + return std::abs(a - b) >= tol && a >= b; // true -> a is ordered before b -> list is not sorted }); } diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp index da7b7b0537..8a863ef80d 100644 --- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp +++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp @@ -38,6 +38,7 @@ #include #include #include +#include #include #include @@ -166,7 +167,7 @@ void TrajectoryExecutionManager::initialize() rclcpp::NodeOptions opt; opt.allow_undeclared_parameters(true); opt.automatically_declare_parameters_from_overrides(true); - controller_mgr_node_.reset(new rclcpp::Node("moveit_simple_controller_manager", opt)); + controller_mgr_node_ = std::make_shared("moveit_simple_controller_manager", opt); auto all_params = node_->get_node_parameters_interface()->get_parameter_overrides(); for (const auto& param : all_params) @@ -939,12 +940,12 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont } std::set joints; - for (std::size_t i = 0, end = joint_names.size(); i < end; ++i) + for (const auto& joint_name : joint_names) { - const moveit::core::JointModel* jm = robot_model_->getJointOfVariable(joint_names[i]); + const moveit::core::JointModel* jm = robot_model_->getJointOfVariable(joint_name); if (!jm) { - RCLCPP_ERROR_STREAM(logger_, "Unknown joint in trajectory: " << joint_names[i]); + RCLCPP_ERROR_STREAM(logger_, "Unknown joint in trajectory: " << joint_name); return false; } diff --git a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp index 2e589cf982..a4277f0731 100644 --- a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp +++ b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp @@ -127,8 +127,8 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl bool good = true; for (const geometry_msgs::msg::Pose& mesh_pose : collision_object.mesh_poses) { - if (!(mesh_pose.position.x >= minx && mesh_pose.position.x <= maxx && mesh_pose.position.y >= miny && - mesh_pose.position.y <= maxy && mesh_pose.position.z >= minz && mesh_pose.position.z <= maxz)) + if (mesh_pose.position.x < minx || mesh_pose.position.x > maxx || mesh_pose.position.y < miny || + mesh_pose.position.y > maxy || mesh_pose.position.z < minz || mesh_pose.position.z > maxz) { good = false; break; @@ -136,9 +136,8 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl } for (const geometry_msgs::msg::Pose& primitive_pose : collision_object.primitive_poses) { - if (!(primitive_pose.position.x >= minx && primitive_pose.position.x <= maxx && - primitive_pose.position.y >= miny && primitive_pose.position.y <= maxy && - primitive_pose.position.z >= minz && primitive_pose.position.z <= maxz)) + if (primitive_pose.position.x < minx || primitive_pose.position.x > maxx || primitive_pose.position.y < miny || + primitive_pose.position.y > maxy || primitive_pose.position.z < minz || primitive_pose.position.z > maxz) { good = false; break; diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp index 4b3fae3440..c5ad29cbf0 100644 --- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp +++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp @@ -118,6 +118,7 @@ class SRDFConfig : public SetupConfig std::vector getGroupNames() const { std::vector group_names; + group_names.reserve(srdf_.groups_.size()); for (const srdf::Model::Group& group : srdf_.groups_) { group_names.push_back(group.name_); diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp b/moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp index e6564a876c..9fb5b65d1b 100644 --- a/moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp +++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp @@ -260,8 +260,8 @@ void SortFilterProxyModel::setShowAll(bool show_all) bool SortFilterProxyModel::filterAcceptsRow(int source_row, const QModelIndex& source_parent) const { CollisionLinearModel* m = qobject_cast(sourceModel()); - if (!(show_all_ || m->reason(source_row) <= ALWAYS || - m->data(m->index(source_row, 2), Qt::CheckStateRole) == Qt::Checked)) + if (!show_all_ && m->reason(source_row) > ALWAYS && + m->data(m->index(source_row, 2), Qt::CheckStateRole) != Qt::Checked) return false; // not accepted due to check state const QRegExp regexp = filterRegExp(); From dda849919e4b7715aee98a3059d270f75207a46c Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Sun, 9 Jun 2024 09:17:21 +0200 Subject: [PATCH 17/20] Disable clang-tidy for ikfast plugin in moveit_planners/test_configs --- .github/workflows/ci.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 49d6d4146d..1d7cfedd7f 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -63,6 +63,7 @@ jobs: (cd $TARGET_REPO_PATH; clang-tidy --list-checks) # Disable clang-tidy for ikfast plugins as we cannot fix the generated code find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \; + find $BASEDIR/target_ws/build -iwholename "*_ikfast_manipulator_plugin/compile_commands.json" -exec rm {} \; CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} ADDITIONAL_DEBS: lld From 74738ee931f5ab71e86f93277ec784d8bb3d7b6a Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Thu, 13 Jun 2024 17:48:03 +0200 Subject: [PATCH 18/20] Temporarily disable CCOV See https://github.com/moveit/moveit2/issues/2866 --- .github/workflows/ci.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 1d7cfedd7f..9dd1dca56a 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -18,7 +18,7 @@ jobs: matrix: env: - IMAGE: rolling-ci - CCOV: true + CCOV: false # Disabled: https://github.com/moveit/moveit2/issues/2866 ROS_DISTRO: rolling - IMAGE: rolling-ci ROS_DISTRO: rolling From 09b72328a36f0171eb3d0102f7765e6fd8dbe3c4 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Thu, 13 Jun 2024 18:14:39 +0200 Subject: [PATCH 19/20] 2.10.0 --- moveit/CHANGELOG.rst | 11 +++ moveit/package.xml | 2 +- moveit_common/CHANGELOG.rst | 11 +++ moveit_common/package.xml | 2 +- moveit_configs_utils/CHANGELOG.rst | 19 ++++ moveit_configs_utils/package.xml | 2 +- moveit_configs_utils/setup.py | 2 +- moveit_core/CHANGELOG.rst | 43 +++++++++ moveit_core/package.xml | 2 +- moveit_kinematics/CHANGELOG.rst | 15 +++ moveit_kinematics/package.xml | 2 +- .../chomp/chomp_interface/CHANGELOG.rst | 7 ++ .../chomp/chomp_interface/package.xml | 2 +- .../chomp/chomp_motion_planner/CHANGELOG.rst | 7 ++ .../chomp/chomp_motion_planner/package.xml | 2 +- moveit_planners/moveit_planners/CHANGELOG.rst | 11 +++ moveit_planners/moveit_planners/package.xml | 2 +- moveit_planners/ompl/CHANGELOG.rst | 20 ++++ moveit_planners/ompl/package.xml | 2 +- .../CHANGELOG.rst | 15 +++ .../package.xml | 2 +- .../CHANGELOG.rst | 11 +++ .../package.xml | 2 +- moveit_planners/stomp/CHANGELOG.rst | 26 +++++ moveit_planners/stomp/package.xml | 2 +- .../CHANGELOG.rst | 11 +++ .../package.xml | 2 +- .../prbt_moveit_config/CHANGELOG.rst | 11 +++ .../prbt_moveit_config/package.xml | 2 +- .../prbt_pg70_support/CHANGELOG.rst | 11 +++ .../prbt_pg70_support/package.xml | 2 +- .../test_configs/prbt_support/CHANGELOG.rst | 11 +++ .../test_configs/prbt_support/package.xml | 2 +- moveit_plugins/moveit_plugins/CHANGELOG.rst | 5 + moveit_plugins/moveit_plugins/package.xml | 2 +- .../CHANGELOG.rst | 14 +++ .../moveit_ros_control_interface/package.xml | 2 +- .../CHANGELOG.rst | 12 +++ .../package.xml | 2 +- moveit_py/CHANGELOG.rst | 17 ++++ moveit_py/package.xml | 2 +- moveit_ros/benchmarks/CHANGELOG.rst | 30 ++++++ moveit_ros/benchmarks/package.xml | 2 +- moveit_ros/hybrid_planning/CHANGELOG.rst | 15 +++ moveit_ros/hybrid_planning/package.xml | 2 +- moveit_ros/move_group/CHANGELOG.rst | 21 ++++ moveit_ros/move_group/package.xml | 2 +- moveit_ros/moveit_ros/CHANGELOG.rst | 11 +++ moveit_ros/moveit_ros/package.xml | 2 +- moveit_ros/moveit_servo/CHANGELOG.rst | 28 ++++++ moveit_ros/moveit_servo/package.xml | 2 +- .../occupancy_map_monitor/CHANGELOG.rst | 14 +++ moveit_ros/occupancy_map_monitor/package.xml | 2 +- moveit_ros/perception/CHANGELOG.rst | 14 +++ moveit_ros/perception/package.xml | 2 +- moveit_ros/planning/CHANGELOG.rst | 68 +++++++++++++ moveit_ros/planning/package.xml | 2 +- moveit_ros/planning_interface/CHANGELOG.rst | 20 ++++ moveit_ros/planning_interface/package.xml | 2 +- moveit_ros/robot_interaction/CHANGELOG.rst | 13 +++ moveit_ros/robot_interaction/package.xml | 2 +- moveit_ros/tests/CHANGELOG.rst | 95 +++++++++++++++++++ moveit_ros/tests/package.xml | 2 +- moveit_ros/visualization/CHANGELOG.rst | 13 +++ moveit_ros/visualization/package.xml | 2 +- moveit_ros/warehouse/CHANGELOG.rst | 13 +++ moveit_ros/warehouse/package.xml | 2 +- moveit_runtime/CHANGELOG.rst | 5 + moveit_runtime/package.xml | 2 +- .../moveit_setup_app_plugins/CHANGELOG.rst | 5 + .../moveit_setup_app_plugins/package.xml | 2 +- .../moveit_setup_assistant/CHANGELOG.rst | 12 +++ .../moveit_setup_assistant/package.xml | 2 +- .../moveit_setup_controllers/CHANGELOG.rst | 6 ++ .../moveit_setup_controllers/package.xml | 2 +- .../moveit_setup_core_plugins/CHANGELOG.rst | 5 + .../moveit_setup_core_plugins/package.xml | 2 +- .../moveit_setup_framework/CHANGELOG.rst | 14 +++ .../moveit_setup_framework/package.xml | 2 +- .../moveit_setup_srdf_plugins/CHANGELOG.rst | 8 ++ .../moveit_setup_srdf_plugins/package.xml | 2 +- 81 files changed, 739 insertions(+), 41 deletions(-) create mode 100644 moveit_ros/tests/CHANGELOG.rst diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst index 0e984538ce..a20ae58929 100644 --- a/moveit/CHANGELOG.rst +++ b/moveit/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit/package.xml b/moveit/package.xml index 1b585a1579..d87906c7c4 100644 --- a/moveit/package.xml +++ b/moveit/package.xml @@ -2,7 +2,7 @@ moveit - 2.9.0 + 2.10.0 Meta package that contains all essential packages of MoveIt 2 Henning Kayser Tyler Weaver diff --git a/moveit_common/CHANGELOG.rst b/moveit_common/CHANGELOG.rst index 4c9f32767a..3817d0958d 100644 --- a/moveit_common/CHANGELOG.rst +++ b/moveit_common/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_common/package.xml b/moveit_common/package.xml index 09c4fe34e6..497a394c9c 100644 --- a/moveit_common/package.xml +++ b/moveit_common/package.xml @@ -2,7 +2,7 @@ moveit_common - 2.9.0 + 2.10.0 Common support functionality used throughout MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_configs_utils/CHANGELOG.rst b/moveit_configs_utils/CHANGELOG.rst index 076e9b1415..ef4153feb6 100644 --- a/moveit_configs_utils/CHANGELOG.rst +++ b/moveit_configs_utils/CHANGELOG.rst @@ -2,6 +2,25 @@ Changelog for package moveit_configs_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Fix xacro args loading issue (`#2684 `_) + * Fixed xacro args loading issue + * Formatting fixes with pre-commit action +* Pass along move_group_capabilities parameters (`#2587 `_) + * Pass along move_group_capabilities parameters + * fix lint check + * Use move_group_capabilities as default launch argument +* CMake format and lint in pre-commit (`#2683 `_) +* Use different packages for launch and config packages in generate_demo_launch (`#2647 `_) +* Contributors: Alex Navarro, Forrest Rogers-Marcovitz, Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_configs_utils/package.xml b/moveit_configs_utils/package.xml index a0a747f10d..f72fd7510a 100644 --- a/moveit_configs_utils/package.xml +++ b/moveit_configs_utils/package.xml @@ -2,7 +2,7 @@ moveit_configs_utils - 2.9.0 + 2.10.0 Python library for loading moveit config parameters in launch files MoveIt Release Team BSD-3-Clause diff --git a/moveit_configs_utils/setup.py b/moveit_configs_utils/setup.py index 8007a515af..8f6c23d322 100644 --- a/moveit_configs_utils/setup.py +++ b/moveit_configs_utils/setup.py @@ -5,7 +5,7 @@ setup( name=package_name, - version="2.9.0", + version="2.10.0", packages=find_packages(), data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/moveit_core/CHANGELOG.rst b/moveit_core/CHANGELOG.rst index d8708fde06..2b4633600b 100644 --- a/moveit_core/CHANGELOG.rst +++ b/moveit_core/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package moveit_core ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Enforce liboctomap-dev by using a cmake version range +* Add utility functions to get limits and trajectory message (`#2861 `_) +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Use std::optional instead of nullptr checking (`#2454 `_) +* Enable mdof trajectory execution (`#2740 `_) + * Add RobotTrajectory conversion from MDOF to joints + * Convert MDOF trajectories to joint trajectories in planning interfaces + * Treat mdof joint variables as common joints in + TrajectoryExecutionManager + * Convert multi-DOF trajectories to joints in TEM + * Revert "Convert MDOF trajectories to joint trajectories in planning interfaces" + This reverts commit 885ee2718594859555b73dc341311a859d31216e. + * Handle multi-DOF variables in TEM's bound checking + * Add parameter to optionally enable multi-dof conversion + * Improve error message about unknown controllers + * Fix name ordering in JointTrajectory conversion + * Improve DEBUG output in TEM + * Comment RobotTrajectory test + * add acceleration to avoid out of bounds read +* Fix doc reference to non-existent function (`#2765 `_) +* (core) Remove unused python docs folder (`#2746 `_) +* Unify log names (`#2720 `_) +* (core) Install collision_detector_fcl_plugin (`#2699 `_) + FCL version of acda563 +* Simplify Isometry multiplication benchmarks (`#2628 `_) + With the benchmark library, there is no need to specify an iteration count. + Interestingly, 4x4 matrix multiplication is faster than affine*matrix +* CMake format and lint in pre-commit (`#2683 `_) +* Merge pull request `#2660 `_ from MarqRazz/pr-fix_model_with_collision + Fix getLinkModelNamesWithCollisionGeometry to include the base link +* validate link has parent +* pre-commit +* Fix getLinkModelNamesWithCollisionGeometry to include the base link of the planning group +* Acceleration Limited Smoothing Plugin for Servo (`#2651 `_) +* Contributors: Henning Kayser, Marq Rasmussen, Matthijs van der Burgh, Paul Gesel, Robert Haschke, Sebastian Jahr, Shobuj Paul, Tyler Weaver, marqrazz + 2.9.0 (2024-01-09) ------------------ * (core) Remove all references to python wrapper from the core pkg (`#2623 `_) diff --git a/moveit_core/package.xml b/moveit_core/package.xml index f099474c26..76dd4b5596 100644 --- a/moveit_core/package.xml +++ b/moveit_core/package.xml @@ -2,7 +2,7 @@ moveit_core - 2.9.0 + 2.10.0 Core libraries used by MoveIt Henning Kayser diff --git a/moveit_kinematics/CHANGELOG.rst b/moveit_kinematics/CHANGELOG.rst index 91fe92c643..78f9552a4a 100644 --- a/moveit_kinematics/CHANGELOG.rst +++ b/moveit_kinematics/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package moveit_kinematics ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* At least on humble, error is: 'robot_description_kinematics.arm.min_joint_config_distance' has invalid type: expected [double] got [integer]. (`#2865 `_) +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CI: Fix building of ikfast plugins (`#2791 `_) + Ignore missing authentication for Indigo packages using --force-yes. +* Unify log names (`#2720 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Henning Kayser, Robert Haschke, Sebastian Jahr, Tyler Weaver, s-trinh + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml index 904706ede5..317aef4fe9 100644 --- a/moveit_kinematics/package.xml +++ b/moveit_kinematics/package.xml @@ -2,7 +2,7 @@ moveit_kinematics - 2.9.0 + 2.10.0 Package for all inverse kinematics solvers in MoveIt Henning Kayser diff --git a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst index 4b9ac61f7a..9b0a690d08 100644 --- a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst +++ b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package chomp_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_planners/chomp/chomp_interface/package.xml b/moveit_planners/chomp/chomp_interface/package.xml index 0c30b02e2d..8f55fadf2d 100644 --- a/moveit_planners/chomp/chomp_interface/package.xml +++ b/moveit_planners/chomp/chomp_interface/package.xml @@ -2,7 +2,7 @@ moveit_planners_chomp - 2.9.0 + 2.10.0 The interface for using CHOMP within MoveIt Chittaranjan Srinivas Swaminathan diff --git a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst index 83f7ba3263..6591863976 100644 --- a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst +++ b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package chomp_motion_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_planners/chomp/chomp_motion_planner/package.xml b/moveit_planners/chomp/chomp_motion_planner/package.xml index daaf573ef1..0db9ec3005 100644 --- a/moveit_planners/chomp/chomp_motion_planner/package.xml +++ b/moveit_planners/chomp/chomp_motion_planner/package.xml @@ -2,7 +2,7 @@ chomp_motion_planner - 2.9.0 + 2.10.0 chomp_motion_planner Chittaranjan Srinivas Swaminathan diff --git a/moveit_planners/moveit_planners/CHANGELOG.rst b/moveit_planners/moveit_planners/CHANGELOG.rst index 27901f8ac6..9154400d7c 100644 --- a/moveit_planners/moveit_planners/CHANGELOG.rst +++ b/moveit_planners/moveit_planners/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_planners ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml index 627ead33eb..a1355c8bfe 100644 --- a/moveit_planners/moveit_planners/package.xml +++ b/moveit_planners/moveit_planners/package.xml @@ -2,7 +2,7 @@ moveit_planners - 2.9.0 + 2.10.0 Meta package that installs all available planners for MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_planners/ompl/CHANGELOG.rst b/moveit_planners/ompl/CHANGELOG.rst index 8db3baef40..7bdd3f4e2b 100644 --- a/moveit_planners/ompl/CHANGELOG.rst +++ b/moveit_planners/ompl/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package moveit_planners_ompl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Do not overwrite the error code with OMPL interface (`#2725 `_) + In case of failure, set the error code to the one returned by the + planning pipeline's `solve` method rather than overwriting it with + `PLANNING_FAILED`. +* Set `planner_id` in reponses with OMPL interface (`#2724 `_) + This avoids a warning `PlanningPipeline::generatePlan()`. + Co-authored-by: Gaël Écorchard +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Gaël Écorchard, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Handle unsupported position constraints in OMPL (`#2417 `_) diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml index f25fb89b33..0e9e7733e3 100644 --- a/moveit_planners/ompl/package.xml +++ b/moveit_planners/ompl/package.xml @@ -2,7 +2,7 @@ moveit_planners_ompl - 2.9.0 + 2.10.0 MoveIt interface to OMPL Henning Kayser Tyler Weaver diff --git a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst index f5f8bb1b56..7fa4535832 100644 --- a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst +++ b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package pilz_industrial_motion_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Add parameter api integration test (`#2662 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml index f158642eac..8d3689d254 100644 --- a/moveit_planners/pilz_industrial_motion_planner/package.xml +++ b/moveit_planners/pilz_industrial_motion_planner/package.xml @@ -2,7 +2,7 @@ pilz_industrial_motion_planner - 2.9.0 + 2.10.0 MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof. Christian Henkel diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst index 3fcb672b95..8c79e3e119 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package pilz_industrial_motion_planner_testutils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml index 590ec798bd..51c65c0758 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml @@ -2,7 +2,7 @@ pilz_industrial_motion_planner_testutils - 2.9.0 + 2.10.0 Helper scripts and functionality to test industrial motion generation Christian Henkel diff --git a/moveit_planners/stomp/CHANGELOG.rst b/moveit_planners/stomp/CHANGELOG.rst index bc931841ec..832d2956a0 100644 --- a/moveit_planners/stomp/CHANGELOG.rst +++ b/moveit_planners/stomp/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package moveit_planners_stomp ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* missing destination path (`#2668 `_) +* Fix penalty-based cost function in STOMP (`#2625 `_) + * Fix penalty-based cost function in STOMP + This adds several test cases for STOMP's noise generation and cost + functions, and provides the following fixes: + * out-of-bounds vector access when tail states of trajectory are invalid + * smoothed costs overriding values of previous invalid groups + * missing validity check of last state in trajectory + * inability to disable cost function interpolation steps + * total cost of trajectory not summing up to sum of state penalties + * bug in Gaussian producing infinite values with invalid start states + * Improve documentation + --------- +* Contributors: Henning Kayser, Robert Haschke, Sarvajith Adyanthaya, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_planners/stomp/package.xml b/moveit_planners/stomp/package.xml index d93ccf63b3..4a69a95eb2 100644 --- a/moveit_planners/stomp/package.xml +++ b/moveit_planners/stomp/package.xml @@ -2,7 +2,7 @@ moveit_planners_stomp - 2.9.0 + 2.10.0 STOMP Motion Planner for MoveIt Henning Kayser BSD-3-Clause diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst index d0ded08330..f37ad6ba94 100644 --- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_resources_prbt_ikfast_manipulator_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Do not pass and return simple types by const ref (`#2453 `_) diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml index 23f1e6320e..e912b2f7b3 100644 --- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml +++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml @@ -1,7 +1,7 @@ moveit_resources_prbt_ikfast_manipulator_plugin - 2.9.0 + 2.10.0 The prbt_ikfast_manipulator_plugin package Alexander Gutenkunst Christian Henkel diff --git a/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst b/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst index 8141afdc5a..187e15861e 100644 --- a/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_resources_prbt_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_planners/test_configs/prbt_moveit_config/package.xml b/moveit_planners/test_configs/prbt_moveit_config/package.xml index 61d4e06c29..453d451405 100644 --- a/moveit_planners/test_configs/prbt_moveit_config/package.xml +++ b/moveit_planners/test_configs/prbt_moveit_config/package.xml @@ -1,6 +1,6 @@ moveit_resources_prbt_moveit_config - 2.9.0 + 2.10.0

MoveIt Resources for testing: Pilz PRBT 6 diff --git a/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst b/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst index 2ef2500719..1084e487cf 100644 --- a/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_resources_prbt_pg70_support ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_planners/test_configs/prbt_pg70_support/package.xml b/moveit_planners/test_configs/prbt_pg70_support/package.xml index 5d577d1952..6f9e82aa2c 100644 --- a/moveit_planners/test_configs/prbt_pg70_support/package.xml +++ b/moveit_planners/test_configs/prbt_pg70_support/package.xml @@ -1,7 +1,7 @@ moveit_resources_prbt_pg70_support - 2.9.0 + 2.10.0 PRBT support for Schunk pg70 gripper. Alexander Gutenkunst diff --git a/moveit_planners/test_configs/prbt_support/CHANGELOG.rst b/moveit_planners/test_configs/prbt_support/CHANGELOG.rst index 40a72cfa3a..92ee4c29fb 100644 --- a/moveit_planners/test_configs/prbt_support/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_support/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package prbt_support ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_planners/test_configs/prbt_support/package.xml b/moveit_planners/test_configs/prbt_support/package.xml index fd867ca576..8cea882e64 100644 --- a/moveit_planners/test_configs/prbt_support/package.xml +++ b/moveit_planners/test_configs/prbt_support/package.xml @@ -1,6 +1,6 @@ moveit_resources_prbt_support - 2.9.0 + 2.10.0 Mechanical, kinematic and visual description of the Pilz light weight arm PRBT. diff --git a/moveit_plugins/moveit_plugins/CHANGELOG.rst b/moveit_plugins/moveit_plugins/CHANGELOG.rst index fc665eda48..673ff39ab6 100644 --- a/moveit_plugins/moveit_plugins/CHANGELOG.rst +++ b/moveit_plugins/moveit_plugins/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_plugins/moveit_plugins/package.xml b/moveit_plugins/moveit_plugins/package.xml index 0a766a856c..15027970ed 100644 --- a/moveit_plugins/moveit_plugins/package.xml +++ b/moveit_plugins/moveit_plugins/package.xml @@ -2,7 +2,7 @@ moveit_plugins - 2.9.0 + 2.10.0 Metapackage for MoveIt plugins. Henning Kayser diff --git a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst index ce620f18f7..db67aaada4 100644 --- a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst +++ b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package moveit_ros_control_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Revert "Simplify controller manager namespacing (`#2210 `_)" + This reverts commit 55df0bccd5e884649780b4ceeee80891e563b57b. + The deprecated constructor was being used in the same file + for the exact use case of enabling namespaces that are not + specified by the parameter. There is no replacement for + supporting a dynamic server lookup, however the parameter + logic could still use simplification. +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Henning Kayser, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Fix warning and cleanup unneeded placeholders (`#2566 `_) diff --git a/moveit_plugins/moveit_ros_control_interface/package.xml b/moveit_plugins/moveit_ros_control_interface/package.xml index 8f18410dce..e8a28c550f 100644 --- a/moveit_plugins/moveit_ros_control_interface/package.xml +++ b/moveit_plugins/moveit_ros_control_interface/package.xml @@ -2,7 +2,7 @@ moveit_ros_control_interface - 2.9.0 + 2.10.0 ros_control controller manager interface for MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst index 5ab67379be..f94faab05e 100644 --- a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst +++ b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package moveit_simple_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_plugins/moveit_simple_controller_manager/package.xml b/moveit_plugins/moveit_simple_controller_manager/package.xml index a07658460c..d11a5cda19 100644 --- a/moveit_plugins/moveit_simple_controller_manager/package.xml +++ b/moveit_plugins/moveit_simple_controller_manager/package.xml @@ -2,7 +2,7 @@ moveit_simple_controller_manager - 2.9.0 + 2.10.0 A generic, simple controller manager plugin for MoveIt. Michael Görner Henning Kayser diff --git a/moveit_py/CHANGELOG.rst b/moveit_py/CHANGELOG.rst index 6f6ba0fa95..00211b554f 100644 --- a/moveit_py/CHANGELOG.rst +++ b/moveit_py/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package moveit_py ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Get configuration values of traj_exec_man (`#2702 `_) + * (ros_planning) get configuration values of traj_exec_man + * (py) get configuration values of traj_exec_man +* CMake format and lint in pre-commit (`#2683 `_) +* log after rclcpp init +* Contributors: Henning Kayser, Matthijs van der Burgh, Robert Haschke, Sebastian Jahr, Tyler Weaver, peterdavidfagan + 2.9.0 (2024-01-09) ------------------ * [PSM] Process collision object color when adding object trough the planning scene monitor (`#2567 `_) diff --git a/moveit_py/package.xml b/moveit_py/package.xml index f20bf5f2a5..cbc800cca0 100644 --- a/moveit_py/package.xml +++ b/moveit_py/package.xml @@ -2,7 +2,7 @@ moveit_py - 2.9.0 + 2.10.0 Python binding for MoveIt 2 Peter David Fagan diff --git a/moveit_ros/benchmarks/CHANGELOG.rst b/moveit_ros/benchmarks/CHANGELOG.rst index d0c9263cd7..17fad62492 100644 --- a/moveit_ros/benchmarks/CHANGELOG.rst +++ b/moveit_ros/benchmarks/CHANGELOG.rst @@ -2,6 +2,36 @@ Changelog for package moveit_ros_benchmarks ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Fix CI for Rolling / Ubuntu Noble (`#2793 `_) + * docker.yaml: Enable caching + * [TEMP] moveit2_rolling.repos: add not yet released packages + * Skip broken ci-testing image: osrf/ros2:testing doesn't contain /opt/ros! + * use boost::timer::progress_display if available + check for header to stay compatible with ubuntu 20.04. + Support boost >= 1.83 + Slightly ugly due to the double alias, but boost::timer was a class + before 1.72, so using `boost::timer::progress_display` in the code + breaks with older versions. + * cherry-pick of `#3547 `_ from MoveIt1 + * Tag ci image as ci-testing as well + --------- + Co-authored-by: Michael Görner + Co-authored-by: Sebastian Jahr + Co-authored-by: Henning Kayser +* Update deprecated include of boost/progress.hpp to boost/timer/progress_display.hpp (`#2811 `_) +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * [Planning Pipeline Refactoring] `#2 `_ Enable chaining planners (`#2457 `_) diff --git a/moveit_ros/benchmarks/package.xml b/moveit_ros/benchmarks/package.xml index 541fd8b420..ce22554a6f 100644 --- a/moveit_ros/benchmarks/package.xml +++ b/moveit_ros/benchmarks/package.xml @@ -2,7 +2,7 @@ moveit_ros_benchmarks - 2.9.0 + 2.10.0 Enhanced tools for benchmarks in MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_ros/hybrid_planning/CHANGELOG.rst b/moveit_ros/hybrid_planning/CHANGELOG.rst index 8a85416307..291384011e 100644 --- a/moveit_ros/hybrid_planning/CHANGELOG.rst +++ b/moveit_ros/hybrid_planning/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package moveit_hybrid_planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Remove HP error codes interface (`#2774 `_) +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Clean-up hybrid planning package (`#2603 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_ros/hybrid_planning/package.xml b/moveit_ros/hybrid_planning/package.xml index d37e7fd1d8..d61e4be425 100644 --- a/moveit_ros/hybrid_planning/package.xml +++ b/moveit_ros/hybrid_planning/package.xml @@ -1,6 +1,6 @@ moveit_hybrid_planning - 2.9.0 + 2.10.0 Hybrid planning components of MoveIt 2 Sebastian Jahr diff --git a/moveit_ros/move_group/CHANGELOG.rst b/moveit_ros/move_group/CHANGELOG.rst index 33222e381c..198f64aae0 100644 --- a/moveit_ros/move_group/CHANGELOG.rst +++ b/moveit_ros/move_group/CHANGELOG.rst @@ -2,6 +2,27 @@ Changelog for package moveit_ros_move_group ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Remove extraneous error message from URDF service (`#2736 `_) +* Add parameter api integration test (`#2662 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Get robot description from topic in GetUrdfService (`#2681 `_) +* Fix bug in GetUrdfService move_group capability (`#2669 `_) + * Take both possible closings for links into account + * Make CI happy +* avoid a relative jump threshold of 0.0 (`#2654 `_) +* Add get group urdf capability (`#2649 `_) +* Contributors: Abishalini Sivaraman, Ezra Brooks, Mario Prats, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Fix warning and cleanup unneeded placeholders (`#2566 `_) diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml index 14cca385d3..68cfb989ed 100644 --- a/moveit_ros/move_group/package.xml +++ b/moveit_ros/move_group/package.xml @@ -2,7 +2,7 @@ moveit_ros_move_group - 2.9.0 + 2.10.0 The move_group node for MoveIt Michael Görner Henning Kayser diff --git a/moveit_ros/moveit_ros/CHANGELOG.rst b/moveit_ros/moveit_ros/CHANGELOG.rst index ae0b079857..4df947049d 100644 --- a/moveit_ros/moveit_ros/CHANGELOG.rst +++ b/moveit_ros/moveit_ros/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_ros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml index baec4dd619..358f961e7d 100644 --- a/moveit_ros/moveit_ros/package.xml +++ b/moveit_ros/moveit_ros/package.xml @@ -2,7 +2,7 @@ moveit_ros - 2.9.0 + 2.10.0 Components of MoveIt that use ROS Michael Görner Henning Kayser diff --git a/moveit_ros/moveit_servo/CHANGELOG.rst b/moveit_ros/moveit_servo/CHANGELOG.rst index 191f8398c5..3a6ca13f28 100644 --- a/moveit_ros/moveit_servo/CHANGELOG.rst +++ b/moveit_ros/moveit_servo/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package moveit_servo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* remove intraprocess comm warning (`#2752 `_) +* Fix error message text in servo.cpp (`#2769 `_) +* Fix launch parameters in Servo demos (`#2735 `_) + Co-authored-by: Sebastian Jahr +* [Servo] Fix collision checking with attached objects (`#2747 `_) +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Attempt to use SCHED_FIFO for Servo regardless of RT kernel (`#2653 `_) + * Attempt to use SCHED_FIFO for Servo regardless of RT kernel + * Update warning message if Servo fails to use SCHED_FIFO + Co-authored-by: AndyZe + * Update moveit_ros/moveit_servo/src/servo_node.cpp + Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> + --------- + Co-authored-by: AndyZe + Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> +* Acceleration Limited Smoothing Plugin for Servo (`#2651 `_) +* Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Add command queue to servo to account for latency (`#2594 `_) diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml index 81a208da18..574d89dad8 100644 --- a/moveit_ros/moveit_servo/package.xml +++ b/moveit_ros/moveit_servo/package.xml @@ -2,7 +2,7 @@ moveit_servo - 2.9.0 + 2.10.0 Provides real-time manipulator Cartesian and joint servoing. Blake Anderson Andy Zelenak diff --git a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst index fb88df21b6..98b1330284 100644 --- a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst +++ b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package moveit_ros_occupancy_map_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Enforce liboctomap-dev by using a cmake version range +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Henning Kayser, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging in moveit_core (`#2503 `_) diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml index 44fdf48b47..6ba31b2f19 100644 --- a/moveit_ros/occupancy_map_monitor/package.xml +++ b/moveit_ros/occupancy_map_monitor/package.xml @@ -2,7 +2,7 @@ moveit_ros_occupancy_map_monitor - 2.9.0 + 2.10.0 Components of MoveIt connecting to occupancy map Henning Kayser Tyler Weaver diff --git a/moveit_ros/perception/CHANGELOG.rst b/moveit_ros/perception/CHANGELOG.rst index e058f161d3..e347a0bdcd 100644 --- a/moveit_ros/perception/CHANGELOG.rst +++ b/moveit_ros/perception/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package moveit_ros_perception ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Fix segmentation fault in mesh_filter/gl_renderer (`#2834 `_) +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: CihatAltiparmak, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * (moveit_ros) add missing CYLINDER check (`#2640 `_) diff --git a/moveit_ros/perception/package.xml b/moveit_ros/perception/package.xml index 911168e511..a50c122553 100644 --- a/moveit_ros/perception/package.xml +++ b/moveit_ros/perception/package.xml @@ -2,7 +2,7 @@ moveit_ros_perception - 2.9.0 + 2.10.0 Components of MoveIt connecting to perception Henning Kayser Tyler Weaver diff --git a/moveit_ros/planning/CHANGELOG.rst b/moveit_ros/planning/CHANGELOG.rst index e4d9da718e..b8b17e2d80 100644 --- a/moveit_ros/planning/CHANGELOG.rst +++ b/moveit_ros/planning/CHANGELOG.rst @@ -2,6 +2,74 @@ Changelog for package moveit_ros_planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Enable mdof trajectory execution (`#2740 `_) + * Add RobotTrajectory conversion from MDOF to joints + * Convert MDOF trajectories to joint trajectories in planning interfaces + * Treat mdof joint variables as common joints in + TrajectoryExecutionManager + * Convert multi-DOF trajectories to joints in TEM + * Revert "Convert MDOF trajectories to joint trajectories in planning interfaces" + This reverts commit 885ee2718594859555b73dc341311a859d31216e. + * Handle multi-DOF variables in TEM's bound checking + * Add parameter to optionally enable multi-dof conversion + * Improve error message about unknown controllers + * Fix name ordering in JointTrajectory conversion + * Improve DEBUG output in TEM + * Comment RobotTrajectory test + * add acceleration to avoid out of bounds read + --------- + Co-authored-by: Paul Gesel + Co-authored-by: Abishalini Sivaraman + Co-authored-by: Ezra Brooks +* Skip flaky PSM launch test (`#2822 `_) +* change default to 1e308 (`#2801 `_) +* PSM: keep references to scene\_ valid upon receiving full scenes (`#2745 `_) + plan_execution-related modules rely on `plan.planning_scene\_` in many places + to point to the currently monitored scene (or a diff on top of it). + Before this patch, if the PSM would receive full scenes during execution, + `plan.planning_scene\_` would not include later incremental updates anymore + because the monitor created a new diff scene. + --------- + Co-authored-by: v4hn +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Print links in collision (`#2727 `_) +* Do not overwrite the error code in planWithSinglePipeline (`#2723 `_) + * Do not overwrite the error code in planWithSinglePipeline + Return the `MotionPlanResponse` as-is. + * Do not rely on generatePlan() to set error code + Do not rely on generatePlan() to set the error code in all cases and + ensure that the error code is set to FAILURE if `generatePlan()` returns + false. + --------- + Co-authored-by: Gaël Écorchard +* Get configuration values of traj_exec_man (`#2702 `_) + * (ros_planning) get configuration values of traj_exec_man + * (py) get configuration values of traj_exec_man + --------- + Co-authored-by: Sebastian Jahr +* Exit earlier on failure in `generatePlan` (`#2726 `_) + With this change, the `PlanningPipeline::generatePlan()` exits as soon + as a failure is detected. Before this, `break` was used to exit the + current loop of request adapters, planners, or response adapters, but + the function continued to the next loop. For example, if a planner would + fail, the response adapters would still be executed. + Co-authored-by: Gaël Écorchard +* srdf publisher node (`#2682 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Get robot description from topic in GetUrdfService (`#2681 `_) +* Shut down PSM publishing before starting to publish on a potentially new topic (`#2680 `_) +* Contributors: Abishalini Sivaraman, Ezra Brooks, Gaël Écorchard, Henning Kayser, Matthijs van der Burgh, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * [PSM] Process collision object color when adding object trough the planning scene monitor (`#2567 `_) diff --git a/moveit_ros/planning/package.xml b/moveit_ros/planning/package.xml index 57594b9201..099dae1d69 100644 --- a/moveit_ros/planning/package.xml +++ b/moveit_ros/planning/package.xml @@ -2,7 +2,7 @@ moveit_ros_planning - 2.9.0 + 2.10.0 Planning components of MoveIt that use ROS Henning Kayser Tyler Weaver diff --git a/moveit_ros/planning_interface/CHANGELOG.rst b/moveit_ros/planning_interface/CHANGELOG.rst index 8e57a03914..e1c2331636 100644 --- a/moveit_ros/planning_interface/CHANGELOG.rst +++ b/moveit_ros/planning_interface/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package moveit_ros_planning_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Add getNodeHandle impl (`#2840 `_) + Co-authored-by: Sebastian Jahr +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Add parameter api integration test (`#2662 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Remove unused python content from planning interface directory (`#2665 `_) + * Remove unused python content from planning interface directory + * Cleanup test cmake +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver, methylDragon + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml index 70be0e1dea..b42df59a24 100644 --- a/moveit_ros/planning_interface/package.xml +++ b/moveit_ros/planning_interface/package.xml @@ -2,7 +2,7 @@ moveit_ros_planning_interface - 2.9.0 + 2.10.0 Components of MoveIt that offer simpler remote (as from another ROS 2 node) interfaces to planning and execution Henning Kayser Tyler Weaver diff --git a/moveit_ros/robot_interaction/CHANGELOG.rst b/moveit_ros/robot_interaction/CHANGELOG.rst index 5cdfc4a21f..c6ec3927a8 100644 --- a/moveit_ros/robot_interaction/CHANGELOG.rst +++ b/moveit_ros/robot_interaction/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package moveit_ros_robot_interaction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging in moveit_core (`#2503 `_) diff --git a/moveit_ros/robot_interaction/package.xml b/moveit_ros/robot_interaction/package.xml index c517ff08c0..7f65b1d5da 100644 --- a/moveit_ros/robot_interaction/package.xml +++ b/moveit_ros/robot_interaction/package.xml @@ -2,7 +2,7 @@ moveit_ros_robot_interaction - 2.9.0 + 2.10.0 Components of MoveIt that offer interaction via interactive markers Henning Kayser Tyler Weaver diff --git a/moveit_ros/tests/CHANGELOG.rst b/moveit_ros/tests/CHANGELOG.rst new file mode 100644 index 0000000000..8bd12d34ee --- /dev/null +++ b/moveit_ros/tests/CHANGELOG.rst @@ -0,0 +1,95 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_ros_tests +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Add parameter api integration test (`#2662 `_) +* Contributors: Robert Haschke, Sebastian Jahr + +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Add parameter api integration test (`#2662 `_) +* Contributors: Robert Haschke, Sebastian Jahr + +2.9.0 (2024-01-09) +------------------ + +2.8.0 (2023-09-10) +------------------ + +2.7.4 (2023-05-18) +------------------ + +2.7.3 (2023-04-24) +------------------ + +2.7.2 (2023-04-18) +------------------ + +2.7.1 (2023-03-23) +------------------ + +2.7.0 (2023-02-09) +------------------ + +2.6.0 (2022-11-10) +------------------ + +2.5.3 (2022-07-28) +------------------ + +2.5.2 (2022-07-18) +------------------ + +2.5.1 (2022-05-31) +------------------ + +2.5.0 (2022-05-26) +------------------ + +2.4.0 (2022-01-20) +------------------ + +2.3.2 (2021-12-29) +------------------ + +2.3.1 (2021-12-23) +------------------ + +2.3.0 (2021-10-08) +------------------ + +2.2.1 (2021-07-12) +------------------ + +2.2.0 (2021-06-30) +------------------ + +2.1.4 (2021-05-31) +------------------ + +2.1.3 (2021-05-22) +------------------ + +2.1.2 (2021-04-22) +------------------ + +2.1.1 (2021-04-13) +------------------ + +2.1.0 (2020-11-24) +------------------ + +2.0.0 (2020-05-13) +------------------ diff --git a/moveit_ros/tests/package.xml b/moveit_ros/tests/package.xml index 4186ca7e50..22ed52fd25 100644 --- a/moveit_ros/tests/package.xml +++ b/moveit_ros/tests/package.xml @@ -2,7 +2,7 @@ moveit_ros_tests - 2.9.0 + 2.10.0 Integration tests for moveit_ros MoveIt Release Team diff --git a/moveit_ros/visualization/CHANGELOG.rst b/moveit_ros/visualization/CHANGELOG.rst index 82b78629d7..8c78a7cebf 100644 --- a/moveit_ros/visualization/CHANGELOG.rst +++ b/moveit_ros/visualization/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package moveit_ros_visualization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Henning Kayser, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml index 3696e3e69f..02dd337091 100644 --- a/moveit_ros/visualization/package.xml +++ b/moveit_ros/visualization/package.xml @@ -2,7 +2,7 @@ moveit_ros_visualization - 2.9.0 + 2.10.0 Components of MoveIt that offer visualization Henning Kayser Tyler Weaver diff --git a/moveit_ros/warehouse/CHANGELOG.rst b/moveit_ros/warehouse/CHANGELOG.rst index 97c3089c07..b1f2a11e8d 100644 --- a/moveit_ros/warehouse/CHANGELOG.rst +++ b/moveit_ros/warehouse/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package moveit_ros_warehouse ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging in moveit_core (`#2503 `_) diff --git a/moveit_ros/warehouse/package.xml b/moveit_ros/warehouse/package.xml index 9869cbdb6b..cfa7c01280 100644 --- a/moveit_ros/warehouse/package.xml +++ b/moveit_ros/warehouse/package.xml @@ -2,7 +2,7 @@ moveit_ros_warehouse - 2.9.0 + 2.10.0 Components of MoveIt connecting to MongoDB Henning Kayser Tyler Weaver diff --git a/moveit_runtime/CHANGELOG.rst b/moveit_runtime/CHANGELOG.rst index 44763724b5..cfebbed03f 100644 --- a/moveit_runtime/CHANGELOG.rst +++ b/moveit_runtime/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_runtime ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_runtime/package.xml b/moveit_runtime/package.xml index de22a93d61..284fa34b3b 100644 --- a/moveit_runtime/package.xml +++ b/moveit_runtime/package.xml @@ -2,7 +2,7 @@ moveit_runtime - 2.9.0 + 2.10.0 moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots). Henning Kayser Tyler Weaver diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst index 114d6518df..80e1b4e7ce 100644 --- a/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_setup_app_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/package.xml b/moveit_setup_assistant/moveit_setup_app_plugins/package.xml index d5eaab8e17..b8c0a99c7e 100644 --- a/moveit_setup_assistant/moveit_setup_app_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_app_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_app_plugins - 2.9.0 + 2.10.0 Various specialty plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst index aebe136c1b..6cc4daffe4 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package moveit_setup_assistant ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Add dependency on moveit_configs_utils to moveit_setup_assistant (`#2832 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver, hacker1024 + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_assistant/package.xml b/moveit_setup_assistant/moveit_setup_assistant/package.xml index f21d33a575..568f05a51e 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/package.xml +++ b/moveit_setup_assistant/moveit_setup_assistant/package.xml @@ -2,7 +2,7 @@ moveit_setup_assistant - 2.9.0 + 2.10.0 Generates a configuration package that makes it easy to use MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst index c0cb6578c4..24d4f3b6f4 100644 --- a/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package moveit_setup_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Add allow_nonzero_velocity_at_trajectory_end parameter to exported ros2_controllers config file (`#2751 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Sebastian Castro, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_controllers/package.xml b/moveit_setup_assistant/moveit_setup_controllers/package.xml index dce5bf8ec2..3750ab43e7 100644 --- a/moveit_setup_assistant/moveit_setup_controllers/package.xml +++ b/moveit_setup_assistant/moveit_setup_controllers/package.xml @@ -2,7 +2,7 @@ moveit_setup_controllers - 2.9.0 + 2.10.0 MoveIt Setup Steps for ROS 2 Control David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst index 857f51d475..86200f7e22 100644 --- a/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_setup_core_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/package.xml b/moveit_setup_assistant/moveit_setup_core_plugins/package.xml index f37a3fc550..ab74738daf 100644 --- a/moveit_setup_assistant/moveit_setup_core_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_core_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_core_plugins - 2.9.0 + 2.10.0 Core (meta) plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst index f35fa66657..e9a38a5aa2 100644 --- a/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package moveit_setup_framework ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_framework/package.xml b/moveit_setup_assistant/moveit_setup_framework/package.xml index 38d31afa00..6afe337eb4 100644 --- a/moveit_setup_assistant/moveit_setup_framework/package.xml +++ b/moveit_setup_assistant/moveit_setup_framework/package.xml @@ -2,7 +2,7 @@ moveit_setup_framework - 2.9.0 + 2.10.0 C++ Interface for defining setup steps for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst index 429b72e3ee..5d6d002716 100644 --- a/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package moveit_setup_srdf_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml b/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml index b987c5bce6..67afec1f4f 100644 --- a/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_srdf_plugins - 2.9.0 + 2.10.0 SRDF-based plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause From c05b013edcaf8fba0187386d9795edf1f59d3478 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Thu, 13 Jun 2024 20:44:27 +0200 Subject: [PATCH 20/20] Fix unbound variable in CI job --- .github/workflows/ci.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 9dd1dca56a..3306fd0063 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -52,7 +52,7 @@ jobs: -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}} - -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}" + -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer' || ''}}" UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''" DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra" CCACHE_DIR: ${{ github.workspace }}/.ccache