diff --git a/Dockerfile b/Dockerfile index c47903857..0ebfd8ff3 100644 --- a/Dockerfile +++ b/Dockerfile @@ -67,7 +67,7 @@ RUN groupadd realtime && \ # hadolint ignore=SC1091 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ --mount=type=cache,target=/var/lib/apt,sharing=locked \ - --mount=type=bind,target=${USER_WS}/,source=. \ + --mount=type=bind,target=${USER_WS}/src,source=./src \ . /opt/overlay_ws/install/setup.sh && \ apt-get update && \ rosdep install -q -y \ @@ -105,139 +105,11 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ less \ gdb \ nano \ - tmux + tmux # Set up the user's .bashrc file and shell. CMD ["/usr/bin/bash"] - -################################################## -# Starting from the specified MoveIt Pro release with CUDA GPU # -################################################## -# The image tag is specified in the argument itself. -# hadolint ignore=DL3006 -FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu - -# Create a non-root user -ARG USERNAME -ARG USER_UID -ARG USER_GID - -# hadolint ignore=DL3008 -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - apt-get update && apt-get install wget -y -q --no-install-recommends && \ - wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \ - dpkg -i cuda-keyring_1.1-1_all.deb && \ - apt-get update && \ - apt-get install -q -y --no-install-recommends \ - libcudnn9-cuda-12 \ - libcudnn9-dev-cuda-12 \ - libcublas-12-6 \ - cuda-cudart-12-6 \ - libcurand-12-6 \ - libcufft-12-6 \ - libnvinfer10 \ - libnvinfer-plugin10 \ - libnvonnxparsers10 \ - libtree - -# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64 -RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi - -# Copy source code from the workspace's ROS 2 packages to a workspace inside the container -ARG USER_WS=/home/${USERNAME}/user_ws -ENV USER_WS=${USER_WS} - -# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root -WORKDIR $USER_WS -# hadolint ignore=DL3008 -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - groupadd --gid $USER_GID ${USERNAME} && \ - useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \ - apt-get update && \ - apt-get install -q -y --no-install-recommends sudo && \ - echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \ - chmod 0440 /etc/sudoers.d/${USERNAME} && \ - cp -r /etc/skel/. /home/${USERNAME} && \ - mkdir -p \ - /home/${USERNAME}/.ccache \ - /home/${USERNAME}/.config \ - /home/${USERNAME}/.ignition \ - /home/${USERNAME}/.colcon \ - /home/${USERNAME}/.ros && \ - chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/ - -# Install additional dependencies -# You can also add any necessary apt-get install, pip install, etc. commands at this point. -# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file. -# hadolint ignore=SC1091 -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - --mount=type=bind,target=${USER_WS}/,source=. \ - . /opt/overlay_ws/install/setup.sh && \ - apt-get update && \ - rosdep install -q -y \ - --from-paths src \ - --ignore-src - -# Set up colcon defaults for the new user -USER ${USERNAME} -RUN colcon mixin add default \ - https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ - colcon mixin update && \ - colcon metadata add default \ - https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \ - colcon metadata update -COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml - -# hadolint ignore=DL3002 -USER root - -# Set up the user's .bashrc file and shell. -CMD ["/usr/bin/bash"] - -################################################################### -# Target for the developer build which does not compile any code. # -################################################################### -FROM base-gpu AS user-overlay-gpu-dev - -ARG USERNAME -ARG USER_WS=/home/${USERNAME}/user_ws -ENV USER_WS=${USER_WS} - -# Install any additional packages for development work -# hadolint ignore=DL3008 -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - apt-get update && \ - apt-get install -y --no-install-recommends \ - less \ - gdb \ - nano - -# Set up the user's .bashrc file and shell. -CMD ["/usr/bin/bash"] - -######################################### -# Target for compiled, deployable image with GPU support # -######################################### -FROM base-gpu AS user-overlay-gpu - -ARG USERNAME -ARG USER_WS=/home/${USERNAME}/user_ws -ENV USER_WS=${USER_WS} - -ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH - -# Compile the workspace -WORKDIR $USER_WS - -# Set up the user's .bashrc file and shell. -CMD ["/usr/bin/bash"] - - ######################################### # Target for compiled, deployable image # ######################################### diff --git a/src/lab_sim/objectives/_scan_scene.xml b/src/lab_sim/objectives/_scan_scene.xml index 352a6be1c..5efd09a67 100644 --- a/src/lab_sim/objectives/_scan_scene.xml +++ b/src/lab_sim/objectives/_scan_scene.xml @@ -14,6 +14,13 @@ joint_group_name="manipulator" controller_names="joint_trajectory_controller" waypoint_name="Park Far Right" + acceleration_scale_factor="1.0" + controller_action_server="/joint_trajectory_controller/follow_joint_trajectory" + keep_orientation="false" + keep_orientation_tolerance="0.05" + link_padding="0.01" + seed="0" + velocity_scale_factor="1.0" /> diff --git a/src/lab_sim/objectives/close_gripper.xml b/src/lab_sim/objectives/close_gripper.xml index afb243195..6960f3d7f 100644 --- a/src/lab_sim/objectives/close_gripper.xml +++ b/src/lab_sim/objectives/close_gripper.xml @@ -1,8 +1,9 @@ + diff --git a/src/lab_sim/objectives/joint_diagnostic.xml b/src/lab_sim/objectives/joint_diagnostic.xml index 411f9f151..256af4b3d 100644 --- a/src/lab_sim/objectives/joint_diagnostic.xml +++ b/src/lab_sim/objectives/joint_diagnostic.xml @@ -1,9 +1,10 @@ + diff --git a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml index d8a502e19..e8fcb9326 100644 --- a/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml +++ b/src/lab_sim/objectives/load_and_execute_joint_trajectory.xml @@ -1,10 +1,10 @@ - + diff --git a/src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml b/src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml index 220506451..29dfd62d6 100644 --- a/src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml +++ b/src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml @@ -29,7 +29,6 @@ - diff --git a/src/lab_sim/objectives/ml_segment_image_from_text_prompt.xml b/src/lab_sim/objectives/ml_segment_image.xml similarity index 82% rename from src/lab_sim/objectives/ml_segment_image_from_text_prompt.xml rename to src/lab_sim/objectives/ml_segment_image.xml index 23066b781..1d34c70f5 100644 --- a/src/lab_sim/objectives/ml_segment_image_from_text_prompt.xml +++ b/src/lab_sim/objectives/ml_segment_image.xml @@ -1,9 +1,9 @@ - + @@ -27,7 +27,7 @@ - + diff --git a/src/lab_sim/objectives/ml_segment_point_cloud_from_text_prompt.xml b/src/lab_sim/objectives/ml_segment_point_cloud.xml similarity index 84% rename from src/lab_sim/objectives/ml_segment_point_cloud_from_text_prompt.xml rename to src/lab_sim/objectives/ml_segment_point_cloud.xml index e7376992f..b51e1479b 100644 --- a/src/lab_sim/objectives/ml_segment_point_cloud_from_text_prompt.xml +++ b/src/lab_sim/objectives/ml_segment_point_cloud.xml @@ -1,12 +1,9 @@ - + @@ -32,7 +29,7 @@ - + diff --git a/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml b/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml index 98b13fe2f..991f93b06 100644 --- a/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml +++ b/src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml @@ -7,7 +7,7 @@ - + @@ -132,7 +132,7 @@ - + diff --git a/src/lab_sim/objectives/ml_auto_grasp_object_from_text_prompt.xml b/src/lab_sim/objectives/pick_all_pill_bottles.xml similarity index 93% rename from src/lab_sim/objectives/ml_auto_grasp_object_from_text_prompt.xml rename to src/lab_sim/objectives/pick_all_pill_bottles.xml index 2fbeae716..c75c32d17 100644 --- a/src/lab_sim/objectives/ml_auto_grasp_object_from_text_prompt.xml +++ b/src/lab_sim/objectives/pick_all_pill_bottles.xml @@ -1,12 +1,9 @@ - + @@ -113,7 +110,7 @@ - + diff --git a/src/lab_sim/objectives/playback_square_trajectory.xml b/src/lab_sim/objectives/playback_square_trajectory.xml index 6c8ef60d9..df810fd27 100644 --- a/src/lab_sim/objectives/playback_square_trajectory.xml +++ b/src/lab_sim/objectives/playback_square_trajectory.xml @@ -1,9 +1,10 @@ + + diff --git a/src/lab_sim/objectives/record_square_trajectory.xml b/src/lab_sim/objectives/record_square_trajectory.xml index e628866f2..e75785690 100644 --- a/src/lab_sim/objectives/record_square_trajectory.xml +++ b/src/lab_sim/objectives/record_square_trajectory.xml @@ -1,10 +1,10 @@ - + diff --git a/src/lab_sim/objectives/fuse_multiple_views.xml b/src/lab_sim/objectives/scan_multiple_views.xml similarity index 83% rename from src/lab_sim/objectives/fuse_multiple_views.xml rename to src/lab_sim/objectives/scan_multiple_views.xml index fca6155d5..16448fe6f 100644 --- a/src/lab_sim/objectives/fuse_multiple_views.xml +++ b/src/lab_sim/objectives/scan_multiple_views.xml @@ -1,8 +1,8 @@ - + @@ -16,7 +16,7 @@ /> - + diff --git a/src/lab_sim/test/objectives_integration_test.py b/src/lab_sim/test/objectives_integration_test.py index 61bd2965e..9ddb04e4c 100644 --- a/src/lab_sim/test/objectives_integration_test.py +++ b/src/lab_sim/test/objectives_integration_test.py @@ -37,6 +37,7 @@ run_objective, ) +# Looping objectives to cancel partway through cancel_objectives = { "3 Waypoints Pick and Place", "Stationary Admittance", @@ -55,17 +56,18 @@ "ML Grasp Object from Text Prompt", } +# Objectives to skip entirely from integration testing skip_objectives = { "Grasp Object from Text Prompt", # https://github.com/PickNikRobotics/moveit_pro/issues/13236 "Grasp Planning", "Joint Diagnostic", - "Fuse Multiple Views", + "Scan Multiple Views", "MPC Pose Tracking", "MPC Pose Tracking With Point Cloud Avoidance", - "ML Segment Image from Text Prompt", + "ML Segment Image", "ML Segment Point Cloud from Clicked Point", "ML Auto Grasp Object from Clicked Point", # Skipped because there is no primary ui to switch to in ci - "ML Auto Grasp Object from Text Prompt", + "Pick All Pill Bottles", "Pick up Cube", "Place Object", "Record Square Trajectory", diff --git a/src/lab_sim/waypoints/ur_waypoints.yaml b/src/lab_sim/waypoints/ur_waypoints.yaml index bebed4097..49c7ec672 100644 --- a/src/lab_sim/waypoints/ur_waypoints.yaml +++ b/src/lab_sim/waypoints/ur_waypoints.yaml @@ -601,7 +601,7 @@ wrench: [] name: Flask 3d - Place - description: '' - favorite: false + favorite: true joint_group_names: - gripper - linear_actuator diff --git a/src/moveit_pro_franka_configs/franka_behaviors/CMakeLists.txt b/src/moveit_pro_franka_configs/franka_behaviors/CMakeLists.txt index 5e4aa9cff..976cbce49 100644 --- a/src/moveit_pro_franka_configs/franka_behaviors/CMakeLists.txt +++ b/src/moveit_pro_franka_configs/franka_behaviors/CMakeLists.txt @@ -1,9 +1,9 @@ cmake_minimum_required(VERSION 3.22) project(franka_behaviors CXX) -find_package(moveit_studio_common REQUIRED) +find_package(moveit_pro_package REQUIRED) find_package(franka_msgs REQUIRED) -moveit_studio_package() +moveit_pro_package() set(THIS_PACKAGE_INCLUDE_DEPENDS moveit_studio_behavior moveit_studio_behavior_interface pluginlib franka_msgs) diff --git a/src/moveit_pro_franka_configs/franka_behaviors/package.xml b/src/moveit_pro_franka_configs/franka_behaviors/package.xml index dabee26b3..9b26bd9e5 100644 --- a/src/moveit_pro_franka_configs/franka_behaviors/package.xml +++ b/src/moveit_pro_franka_configs/franka_behaviors/package.xml @@ -11,7 +11,7 @@ ament_cmake - moveit_studio_common + moveit_pro_package franka_msgs moveit_studio_behavior_interface diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro b/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro index 72556275c..80628041e 100644 --- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro +++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro @@ -255,7 +255,7 @@ franka_dual_arm_sim 10 60 - home + default $(arg mujoco_viewer) diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/svg_to_yaml.py b/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/svg_to_yaml.py index 375611d1d..eab0d943b 100755 --- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/svg_to_yaml.py +++ b/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/svg_to_yaml.py @@ -124,7 +124,10 @@ def extract_waypoints_from_paths(paths, density): points = path_to_points(path, density) log(f"Path has {len(points)} waypoints") waypoints = [ - list(a) for a in zip(points.real, points.imag, np.zeros(len(points.real))) + list(a) + for a in zip( + points.real, points.imag, np.zeros(len(points.real)), strict=True + ) ] log(f"Subpath has {len(waypoints)} waypoints") # Add a pre-waypoint and post-waypoint with Z clearance for transitions between subpaths. diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml index ae09b8692..1cc3b3d32 100644 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml +++ b/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml @@ -61,6 +61,7 @@ hardware: - wrist_realsense: "true" - use_internal_bus_gripper_comm: "false" - mujoco_model: "description/mujoco/rafti_fingers_scene.xml" + - mujoco_viewer: false # Sets ROS global params for launch. # [Optional] diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml index 806786318..735efb6ca 100644 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml +++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml @@ -168,4 +168,13 @@ + + + + diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml index 1134c64b6..32bfe5e76 100644 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml +++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml @@ -168,4 +168,13 @@ + + + + diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro index a55b12437..7741689a8 100644 --- a/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro +++ b/src/moveit_pro_kinova_configs/kinova_sim/description/picknik_kinova_gen3.xacro @@ -689,6 +689,7 @@ kinova_sim 10 60 + $(arg mujoco_viewer) diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt index f8d5f54eb..306743b5a 100644 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt +++ b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt @@ -1,8 +1,8 @@ cmake_minimum_required(VERSION 3.22) project(moveit_studio_kinova_pstop_manager) -find_package(moveit_studio_common REQUIRED) -moveit_studio_package() +find_package(moveit_pro_package REQUIRED) +moveit_pro_package() if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wpedantic) diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml index b5031ef5a..3a27e4112 100644 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml +++ b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/package.xml @@ -11,7 +11,7 @@ Proprietary ament_cmake_ros - moveit_studio_common + moveit_pro_package controller_manager_msgs moveit_studio_agent_msgs diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/close_gripper.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/close_gripper.xml index ab7fa36d5..099690f56 100644 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/close_gripper.xml +++ b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/close_gripper.xml @@ -1,5 +1,10 @@ + - + + diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_with_fuse.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_via_fiducial_tracking.xml similarity index 90% rename from src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_with_fuse.xml rename to src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_via_fiducial_tracking.xml index 88b0537dc..acaeeecca 100644 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_with_fuse.xml +++ b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_via_fiducial_tracking.xml @@ -1,12 +1,12 @@ @@ -146,6 +146,15 @@ /> + + - + diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/move_to_deploy.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/move_to_deploy.xml new file mode 100644 index 000000000..494a88441 --- /dev/null +++ b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/move_to_deploy.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/move_to_folded.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/move_to_folded.xml new file mode 100644 index 000000000..cd475af3e --- /dev/null +++ b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/move_to_folded.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/open_gripper.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/open_gripper.xml index 922eb8931..5b98463b6 100644 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/open_gripper.xml +++ b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/open_gripper.xml @@ -1,6 +1,11 @@ + - + + diff --git a/src/moveit_pro_ur_configs/moveit_studio_ur_pstop_manager/CMakeLists.txt b/src/moveit_pro_ur_configs/moveit_studio_ur_pstop_manager/CMakeLists.txt index a9b5ac084..859c685ad 100644 --- a/src/moveit_pro_ur_configs/moveit_studio_ur_pstop_manager/CMakeLists.txt +++ b/src/moveit_pro_ur_configs/moveit_studio_ur_pstop_manager/CMakeLists.txt @@ -1,8 +1,8 @@ cmake_minimum_required(VERSION 3.22) project(moveit_studio_ur_pstop_manager CXX) -find_package(moveit_studio_common REQUIRED) -moveit_studio_package() +find_package(moveit_pro_package REQUIRED) +moveit_pro_package() if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wpedantic) diff --git a/src/moveit_pro_ur_configs/moveit_studio_ur_pstop_manager/package.xml b/src/moveit_pro_ur_configs/moveit_studio_ur_pstop_manager/package.xml index 47a312474..b773a2f7a 100644 --- a/src/moveit_pro_ur_configs/moveit_studio_ur_pstop_manager/package.xml +++ b/src/moveit_pro_ur_configs/moveit_studio_ur_pstop_manager/package.xml @@ -12,7 +12,7 @@ BSD 3-Clause ament_cmake_ros - moveit_studio_common + moveit_pro_package controller_manager_msgs moveit_studio_agent_msgs diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/CMakeLists.txt b/src/moveit_pro_ur_configs/picknik_ur_site_config/CMakeLists.txt index db0837619..8f8e13195 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_site_config/CMakeLists.txt +++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/CMakeLists.txt @@ -2,8 +2,9 @@ cmake_minimum_required(VERSION 3.22) project(picknik_ur_site_config) find_package(ament_cmake REQUIRED) -find_package(moveit_studio_common REQUIRED) -moveit_studio_package() +find_package(moveit_pro_package REQUIRED) +find_package(moveit_studio_behavior_interface REQUIRED) +moveit_pro_package() # add custom behaviors add_subdirectory(behaviors) diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/behaviors/test/CMakeLists.txt b/src/moveit_pro_ur_configs/picknik_ur_site_config/behaviors/test/CMakeLists.txt index 2780a6072..e271f69c4 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_site_config/behaviors/test/CMakeLists.txt +++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/behaviors/test/CMakeLists.txt @@ -1,6 +1,7 @@ find_package(ament_cmake_auto REQUIRED) find_package(ament_cmake_gmock REQUIRED) find_package(ament_cmake_gtest REQUIRED) +find_package(moveit_studio_behavior_interface REQUIRED) ament_auto_add_gtest(test_behavior_plugins test_behavior_plugins.cpp) ament_target_dependencies(test_behavior_plugins ${THIS_PACKAGE_INCLUDE_DEPENDS}) diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/package.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/package.xml index f42193e03..bc5205bc5 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_site_config/package.xml +++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/package.xml @@ -14,7 +14,7 @@ ament_cmake - moveit_studio_common + moveit_pro_package moveit_studio_behavior_interface picknik_ur_base_config