Merge branch 'main' into update-docs

Author: gonzalocasas

CHANGELOG.rst

@@ -13,6 +13,7 @@ Unreleased
 **Added**
 
 * Added support for attached and non-attached collision mesh visualization to the ``Robot Visualize`` GH component.
+* Added a prefix to all GH components.
 * Added ``append`` to the operations of the ``Collision Mesh`` GH component.
 
 **Changed**
@@ -22,6 +23,8 @@ Unreleased
 **Fixed**
 
 * Fixed DH params for analytical IK solver of UR3e and UR10e.
+* Fixed Kinetic support on IK, FK, and motion planning calls.
+* Fixed ``Publish to topic`` Grasshopper component when the ``ros_client`` has been replaced (eg. disconnected and reconnected).
 
 **Deprecated**
 

pyproject.toml

@@ -0,0 +1,26 @@
+[tool.black]
+line-length = 180
+
+[tool.pytest.ini_options]
+minversion = "6.0"
+testpaths = ["src", "tests"]
+python_files = [
+    "test_*.py",
+    "*_test.py",
+    "tests.py"
+]
+addopts = "-ra --strict --doctest-glob=*.rst --tb=short"
+doctest_optionflags= "NORMALIZE_WHITESPACE IGNORE_EXCEPTION_DETAIL ALLOW_UNICODE ALLOW_BYTES"
+filterwarnings = "ignore::DeprecationWarning"
+
+[tool.pydocstyle]
+convention = "numpy"
+add-ignore = ["D100"]
+
+[tool.isort]
+force_single_line = true
+line_length = 180
+known_first_party = "compas_fab"
+default_section = "THIRDPARTY"
+forced_separate = "test_compas_fab"
+skip = ["__init__.py"]

requirements-dev.txt

@@ -1,16 +1,16 @@
 attrs>=19.3.0
-sphinx_compas_theme>=0.9
-sphinx>=1.6
-invoke>=0.14
+black
 bump2version>=1.0
 check-manifest>=0.36
 flake8
-autopep8
+invoke>=0.14
+isort
 pylint
-pytest>=4.6
 pytest_mock
 pytest-cov
+pytest>=6.0
+sphinx_compas_theme>=0.9
+sphinx>=1.6
 sybil
-isort
 twine
 -e .

setup.cfg

@@ -12,36 +12,3 @@ exclude =
     dist,
     src/compas_fab/backends/vrep/remote_api/*,
     src/compas_fab/ghpython/path_planning.py
-
-[pydocstyle]
-convention = numpy
-add-ignore = D100
-
-[tool:pytest]
-testpaths = src tests
-norecursedirs =
-    migrations
-
-python_files =
-    test_*.py
-    *_test.py
-    tests.py
-addopts =
-    -ra
-    --strict
-    --doctest-glob=\*.rst
-    --tb=short
-doctest_optionflags= NORMALIZE_WHITESPACE IGNORE_EXCEPTION_DETAIL ALLOW_UNICODE ALLOW_BYTES
-filterwarnings =
-    ignore::DeprecationWarning
-
-[isort]
-force_single_line = True
-line_length = 180
-known_first_party = compas_fab
-default_section = THIRDPARTY
-forced_separate = test_compas_fab
-skip = migrations, __init__.py
-
-[coverage:run]
-branch = True

src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py

@@ -87,6 +87,7 @@ def forward_kinematics_async(self, callback, errback,
             name=configuration.joint_names, position=configuration.joint_values, header=header)
         robot_state = RobotState(
             joint_state, MultiDOFJointState(header=header))
+        robot_state.filter_fields_for_distro(self.ros_client.ros_distro)
 
         def convert_to_frame(response):
             callback(response.pose_stamped[0].pose.frame)

src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py

@@ -109,6 +109,7 @@ def inverse_kinematics_async(self, callback, errback,
             name=start_configuration.joint_names, position=start_configuration.joint_values, header=header)
         start_state = RobotState(
             joint_state, MultiDOFJointState(header=header))
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
 
         if options.get('attached_collision_meshes'):
             for acm in options['attached_collision_meshes']:

src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py

@@ -109,6 +109,7 @@ def plan_cartesian_motion_async(self, callback, errback,
                                  name=start_configuration.joint_names,
                                  position=start_configuration.joint_values)
         start_state = RobotState(joint_state, MultiDOFJointState(header=header), is_diff=True)
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
 
         if options.get('attached_collision_meshes'):
             for acm in options['attached_collision_meshes']:

src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py

@@ -114,6 +114,7 @@ def plan_motion_async(self, callback, errback,
             position=start_configuration.joint_values)
         start_state = RobotState(
             joint_state, MultiDOFJointState(header=header), is_diff=True)
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
 
         if options.get('attached_collision_meshes'):
             for acm in options['attached_collision_meshes']:

src/compas_fab/backends/ros/messages/moveit_msgs.py

@@ -189,6 +189,14 @@ def from_msg(cls, msg):
             item) for item in msg['attached_collision_objects']]
         return cls(joint_state, multi_dof_joint_state, attached_collision_objects, msg['is_diff'])
 
+    def filter_fields_for_distro(self, ros_distro):
+        """To maintain backwards compatibility with older ROS distros,
+        we need to make sure newly added fields are removed from the request."""
+        # Remove the field `pose` for distros older than NOETIC
+        if ros_distro in (RosDistro.KINETIC, RosDistro.MELODIC):
+            for aco in self.attached_collision_objects:
+                del aco.object.pose
+
 
 class PositionIKRequest(ROSmsg):
     """https://docs.ros.org/kinetic/api/moveit_msgs/html/msg/PositionIKRequest.html
@@ -539,6 +547,14 @@ def from_msg(cls, msg):
 
         return cls(collision_objects, octomap)
 
+    def filter_fields_for_distro(self, ros_distro):
+        """To maintain backwards compatibility with older ROS distros,
+        we need to make sure newly added fields are removed from the request."""
+        # Remove the field `pose` for distros older than NOETIC
+        if ros_distro in (RosDistro.KINETIC, RosDistro.MELODIC):
+            for co in self.collision_objects:
+                del co.pose
+
 
 class PlanningScene(ROSmsg):
     """https://docs.ros.org/melodic/api/moveit_msgs/html/msg/PlanningScene.html
@@ -568,11 +584,8 @@ def filter_fields_for_distro(self, ros_distro):
         """To maintain backwards compatibility with older ROS distros,
         we need to make sure newly added fields are removed from the request."""
         # Remove the field `pose` for distros older than NOETIC
-        if ros_distro in (RosDistro.KINETIC, RosDistro.MELODIC):
-            for aco in self.robot_state.attached_collision_objects:
-                del aco.object.pose
-            for co in self.world.collision_objects:
-                del co.pose
+        self.robot_state.filter_fields_for_distro(ros_distro)
+        self.world.filter_fields_for_distro(ros_distro)
 
     @classmethod
     def from_msg(cls, msg):

src/compas_fab/ghpython/components/Cf_RosTopicPublish/code.py

@@ -25,8 +25,8 @@ def RunScript(self, ros_client, topic_name, topic_type, msg):
         topic = st.get(key, None)
 
         if ros_client and ros_client.is_connected:
-            if not topic:
-                topic = Topic(ros_client, topic_name, topic_type)
+            if not topic or topic.ros != ros_client:
+                topic = Topic(ros_client, topic_name, topic_type, reconnect_on_close=False)
                 topic.advertise()
                 time.sleep(0.2)