Merge branch 'main' into reorganize-ci

nbbrooks · web-flow · commit 6c57d7eec1a5 · 2025-11-26T18:58:22.000-07:00
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -153,7 +153,7 @@ jobs:
       #        run: |
       #          testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v5
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.env.IMAGE }}
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
@@ -171,7 +171,7 @@ jobs:
     steps:
       - name: Delete Untagged Images
         if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
-        uses: actions/github-script@v7
+        uses: actions/github-script@v8
         with:
           github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
           script: |
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml
@@ -71,7 +71,7 @@ jobs:
     steps:
       - name: Delete Untagged Images
         if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
-        uses: actions/github-script@v7
+        uses: actions/github-script@v8
         with:
           github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
           script: |
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -37,15 +37,12 @@ repos:
     hooks:
       - id: black
 
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
     hooks:
       - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ['-fallback-style=none', '-i']
+        types_or: [c++, c, cuda]
+        args: ["-fallback-style=none"]
   - repo: https://github.com/codespell-project/codespell
     rev: v2.4.1
     hooks:
diff --git a/moveit_configs_utils/setup.py b/moveit_configs_utils/setup.py
@@ -18,7 +18,11 @@
     maintainer_email="moveit_releasers@googlegroups.com",
     description="Python library for loading MoveIt config parameters in launch files",
     license="BSD",
-    tests_require=["pytest"],
+    extras_require={
+        "test": [
+            "pytest",
+        ],
+    },
     entry_points={
         "console_scripts": [],
     },
diff --git a/moveit_core/robot_state/test/test_aabb.cpp b/moveit_core/robot_state/test/test_aabb.cpp
@@ -160,7 +160,7 @@ TEST_F(TestAABB, TestPR2)
   auto pub_aabb =
       node->create_publisher<visualization_msgs::msg::Marker>("/visualization_aabb", rmw_qos_profile_default);
   auto pub_obb = node->create_publisher<visualization_msgs::msg::Marker>("/visualization_obb", rmw_qos_profile_default);
-  rclcpp::Rate loop_rate(10);
+  rclcpp::WallRate loop_rate(10);
 
   // Wait for the publishers to establish connections
   sleep(5);
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin_description.xml b/moveit_kinematics/cached_ik_kinematics_plugin_description.xml
@@ -1,10 +1,10 @@
 <library path="moveit_cached_ik_kinematics_plugin">
-  <class name="cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin" type="cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<kdl_kinematics_plugin::KDLKinematicsPlugin>" base_class_type="kinematics::KinematicsBase">
+  <class name="cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin" type="cached_ik_kinematics_plugin::CachedIKKinematicsPlugin&lt;kdl_kinematics_plugin::KDLKinematicsPlugin&gt;" base_class_type="kinematics::KinematicsBase">
     <description>
       A kinematics plugin for persistently caching IK solutions computed with the KDL kinematics plugin.
     </description>
   </class>
-  <class name="cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin" type="cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<srv_kinematics_plugin::SrvKinematicsPlugin>" base_class_type="kinematics::KinematicsBase">
+  <class name="cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin" type="cached_ik_kinematics_plugin::CachedIKKinematicsPlugin&lt;srv_kinematics_plugin::SrvKinematicsPlugin&gt;" base_class_type="kinematics::KinematicsBase">
     <description>
       A kinematics plugin for persistently caching IK solutions computed with the Srv kinematics plugin.
     </description>
diff --git a/moveit_ros/hybrid_planning/test/test_basic_integration.cpp b/moveit_ros/hybrid_planning/test/test_basic_integration.cpp
@@ -219,7 +219,7 @@ TEST_F(HybridPlanningFixture, ActionCompletion)
     auto goal_handle_future = hp_action_client_->async_send_goal(goal_action_request_, send_goal_options_);
   });
 
-  rclcpp::Rate rate(10);
+  rclcpp::WallRate rate(10);
   while (!action_complete_)
   {
     executor_.spin_once();
@@ -241,7 +241,7 @@ TEST_F(HybridPlanningFixture, ActionCompletion)
     hp_action_client_->async_cancel_all_goals();
   });
 
-  rclcpp::Rate rate(10);
+  rclcpp::WallRate rate(10);
   while (!action_complete_)
   {
     executor_.spin_once();
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -94,7 +94,7 @@ void TfPublisher::publishPlanningSceneFrames()
   tf2_ros::TransformBroadcaster broadcaster(context_->moveit_cpp_->getNode());
 #endif
   geometry_msgs::msg::TransformStamped transform;
-  rclcpp::Rate rate(rate_);
+  rclcpp::WallRate rate(rate_);
 
   while (keep_running_)
   {
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp
@@ -66,6 +66,6 @@ class TrajectoryMonitorMiddlewareHandle : public TrajectoryMonitor::MiddlewareHa
   void sleep() override;
 
 private:
-  std::unique_ptr<rclcpp::Rate> rate_;
+  std::unique_ptr<rclcpp::WallRate> rate_;
 };
 }  // namespace planning_scene_monitor
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
@@ -482,7 +482,7 @@ void PlanningSceneMonitor::scenePublishingThread()
     moveit_msgs::msg::PlanningScene msg;
     bool publish_msg = false;
     bool is_full = false;
-    rclcpp::Rate rate(publish_planning_scene_frequency_);
+    rclcpp::WallRate rate(publish_planning_scene_frequency_);
     {
       std::unique_lock<std::shared_mutex> ulock(scene_update_mutex_);
       while (new_scene_update_ == UPDATE_NONE && publish_planning_scene_)
diff --git a/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor_middleware_handle.cpp b/moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor_middleware_handle.cpp
@@ -48,7 +48,7 @@ void planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::setRate(double s
 {
   if (sampling_frequency > std::numeric_limits<double>::epsilon())
   {
-    rate_ = std::make_unique<rclcpp::Rate>(sampling_frequency);
+    rate_ = std::make_unique<rclcpp::WallRate>(sampling_frequency);
   }
 }
 
diff --git a/moveit_ros/warehouse/src/broadcast.cpp b/moveit_ros/warehouse/src/broadcast.cpp
@@ -121,7 +121,7 @@ int main(int argc, char** argv)
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(node);
 
-  rclcpp::Rate rate(static_cast<int64_t>(delay) * 1000ms);
+  rclcpp::WallRate rate(static_cast<int64_t>(delay) * 1000ms);
 
   // publish the scene
   if (vm.count("scene"))

Original file line number	Diff line number	Diff line change
`@@ -94,7 +94,7 @@ void TfPublisher::publishPlanningSceneFrames()`
`94`	`94`	`tf2_ros::TransformBroadcaster broadcaster(context_->moveit_cpp_->getNode());`
`95`	`95`	`#endif`
`96`	`96`	`geometry_msgs::msg::TransformStamped transform;`
`97`		`- rclcpp::Rate rate(rate_);`
	`97`	`+ rclcpp::WallRate rate(rate_);`
`98`	`98`
`99`	`99`	`while (keep_running_)`
`100`	`100`	`{`