Merge pull request #383 from compas-dev/fix-acm-pre-noetic

Fix ACM pre-noetic

Author: gonzalocasas

.github/workflows/build.yml

@@ -38,7 +38,7 @@ jobs:
         run: |
           python -m pip install --upgrade pip
           python -m pip install wheel
-          python -m pip install cython --install-option="--no-cython-compile"
+          python -m pip install cython --config-settings="--build-option=--no-cython-compile"
       - name: Install
         run: |
           python -m pip install --no-cache-dir -r requirements-dev.txt

.github/workflows/deploy-n-publish.yml

@@ -24,7 +24,7 @@ jobs:
         run: |
           python -m pip install --upgrade pip
           python -m pip install wheel
-          python -m pip install cython --install-option="--no-cython-compile"
+          python -m pip install cython --config-settings="--build-option=--no-cython-compile"
       - name: 💎 Install
         run: |
           python -m pip install --no-cache-dir -r requirements-dev.txt

.github/workflows/integration.yml

@@ -26,7 +26,7 @@ jobs:
         run: |
           python -m pip install --upgrade pip
           python -m pip install wheel
-          python -m pip install cython --install-option="--no-cython-compile"
+          python -m pip install cython --config-settings="--build-option=--no-cython-compile"
       - name: Install
         run: |
           python -m pip install --no-cache-dir -r requirements-dev.txt

CHANGELOG.md

@@ -7,19 +7,21 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
-**Added**
+### Added
 
 * Added `Forward Kinematics` GH component.
 
-**Changed**
+### Changed
 
 * Updated install process of GH components.
 
-**Fixed**
+### Fixed
+
+* Fixed pre-Noetic support on the MoveIt planner when a tool is attached to the robot.
 
-**Deprecated**
+### Deprecated
 
-**Removed**
+### Removed
 
 ## 0.27.0
 

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

@@ -109,13 +109,15 @@ def inverse_kinematics_async(
             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"]:
                 aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
                 start_state.attached_collision_objects.append(aco)
 
+        # Filter needs to happen after all objects have been added
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
+
         constraints = convert_constraints_to_rosmsg(options.get("constraints"), header)
 
         timeout_in_secs = options.get("timeout", 2)

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

@@ -113,13 +113,15 @@ def plan_cartesian_motion_async(
             header=header, 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"]:
                 aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
                 start_state.attached_collision_objects.append(aco)
 
+        # Filter needs to happen after all objects have been added
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
+
         path_constraints = convert_constraints_to_rosmsg(options.get("path_constraints"), header)
 
         request = dict(

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

@@ -110,13 +110,15 @@ def plan_motion_async(
             header=header, 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"]:
                 aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
                 start_state.attached_collision_objects.append(aco)
 
+        # Filter needs to happen after all objects have been added
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
+
         # convert constraints
         goal_constraints = [convert_constraints_to_rosmsg(goal_constraints, header)]
         path_constraints = convert_constraints_to_rosmsg(options.get("path_constraints"), header)