Fixup main branch (#359)

Signed-off-by: Tyler Weaver <[email protected]>

Author: tylerjw

.github/upstream.repos

@@ -0,0 +1,17 @@
+repositories:
+  launch_param_builder:
+    type: git
+    url: https://github.com/PickNikRobotics/launch_param_builder
+    version: main
+  moveit_task_constructor:
+    type: git
+    url: https://github.com/ros-planning/moveit_task_constructor.git
+    version: ros2
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/ros-planning/moveit_visual_tools
+    version: ros2
+  rosparam_shortcuts:
+    type: git
+    url: https://github.com/PickNikRobotics/rosparam_shortcuts
+    version: ros2

.github/workflows/ci.yaml

@@ -24,7 +24,7 @@ jobs:
 
     env:
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
-      UPSTREAM_WORKSPACE: moveit2_tutorials.repos
+      UPSTREAM_WORKSPACE: .github/upstream.repos
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       AFTER_SETUP_UPSTREAM_WORKSPACE_EMBED: set +u && source ~/ws_moveit/install/setup.bash && set - u
       TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
@@ -42,9 +42,9 @@ jobs:
         uses: pat-s/[email protected]
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
-          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2_tutorials.repos') }}-${{ github.run_id }}
+          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('.github/upstream.repos') }}-${{ github.run_id }}
           restore-keys: |
-            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2_tutorials.repos') }}
+            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('.github/upstream.repos') }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws

.github/workflows/format.yml

@@ -9,7 +9,6 @@ on:
   push:
     branches:
       - main
-      - foxy
 
 jobs:
   pre-commit:
@@ -18,6 +17,6 @@ jobs:
     steps:
     - uses: actions/checkout@v2
     - uses: actions/setup-python@v2
-    - name: Install clang-format-10
-      run: sudo apt-get install clang-format-10
+    - name: Install clang-format-12
+      run: sudo apt-get install clang-format-12
     - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -37,7 +37,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format-12
         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']

doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp

@@ -143,7 +143,7 @@ int main(int argc, char** argv)
   // to actually move the robot.
   moveit::planning_interface::MoveGroupInterface::Plan my_plan;
 
-  bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+  bool success = (move_group.plan(my_plan) == moveit::core::MoveItErrorCode::SUCCESS);
 
   RCLCPP_INFO(LOGGER, "Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
 
@@ -196,7 +196,7 @@ int main(int argc, char** argv)
   move_group.setMaxVelocityScalingFactor(0.05);
   move_group.setMaxAccelerationScalingFactor(0.05);
 
-  success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+  success = (move_group.plan(my_plan) == moveit::core::MoveItErrorCode::SUCCESS);
   RCLCPP_INFO(LOGGER, "Visualizing plan 2 (joint space goal) %s", success ? "" : "FAILED");
 
   // Visualize the plan in RViz:
@@ -263,7 +263,7 @@ int main(int argc, char** argv)
   // Let's increase the planning time from the default 5 seconds to be sure the planner has enough time to succeed.
   move_group.setPlanningTime(10.0);
 
-  success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+  success = (move_group.plan(my_plan) == moveit::core::MoveItErrorCode::SUCCESS);
   RCLCPP_INFO(LOGGER, "Visualizing plan 3 (constraints) %s", success ? "" : "FAILED");
 
   // Visualize the plan in RViz:
@@ -341,7 +341,7 @@ int main(int argc, char** argv)
   another_pose.position.z = 0.59;
   move_group.setPoseTarget(another_pose);
 
-  success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+  success = (move_group.plan(my_plan) == moveit::core::MoveItErrorCode::SUCCESS);
   RCLCPP_INFO(LOGGER, "Visualizing plan 5 (with no obstacles) %s", success ? "" : "FAILED");
 
   visual_tools.deleteAllMarkers();
@@ -396,7 +396,7 @@ int main(int argc, char** argv)
   visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to once the collision object appears in RViz");
 
   // Now, when we plan a trajectory it will avoid the obstacle.
-  success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+  success = (move_group.plan(my_plan) == moveit::core::MoveItErrorCode::SUCCESS);
   RCLCPP_INFO(LOGGER, "Visualizing plan 6 (pose goal move around cuboid) %s", success ? "" : "FAILED");
   visual_tools.publishText(text_pose, "Obstacle_Goal", rvt::WHITE, rvt::XLARGE);
   visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
@@ -452,7 +452,7 @@ int main(int argc, char** argv)
 
   // Replan, but now with the object in hand.
   move_group.setStartStateToCurrentState();
-  success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+  success = (move_group.plan(my_plan) == moveit::core::MoveItErrorCode::SUCCESS);
   RCLCPP_INFO(LOGGER, "Visualizing plan 7 (move around cuboid with cylinder) %s", success ? "" : "FAILED");
   visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
   visual_tools.trigger();

doc/tutorials/getting_started/getting_started.rst

@@ -46,7 +46,6 @@ Move into your colcon workspace and pull the MoveIt 2 tutorials source: ::
 
   cd ~/ws_moveit2/src
   git clone https://github.com/ros-planning/moveit2_tutorials -b main
-  git clone https://github.com/ros-planning/moveit2 -b main
   vcs import < moveit2_tutorials/moveit2_tutorials.repos
 
 Build your Colcon Workspace

moveit2_tutorials.repos

@@ -1,21 +1,29 @@
 repositories:
-  moveit_resources:
-    type: git
-    url: https://github.com/ros-planning/moveit_resources
-    version: ros2
-  moveit_visual_tools:
-    type: git
-    url: https://github.com/ros-planning/moveit_visual_tools
-    version: ros2
   launch_param_builder:
     type: git
     url: https://github.com/PickNikRobotics/launch_param_builder
     version: main
+  moveit2:
+    type: git
+    url: https://github.com/ros-planning/moveit2
+    version: main
+  moveit_resources:
+    type: git
+    url: https://github.com/ros-planning/moveit_resources
+    version: ros2
   moveit_task_constructor:
     type: git
     url: https://github.com/ros-planning/moveit_task_constructor.git
     version: ros2
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/ros-planning/moveit_visual_tools
+    version: ros2
   rosparam_shortcuts:
     type: git
     url: https://github.com/PickNikRobotics/rosparam_shortcuts
     version: ros2
+  srdfdom:
+    type: git
+    url: [email protected]:ros-planning/srdfdom.git
+    version: ros2

package.xml

@@ -34,6 +34,7 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
+  <depend>moveit_task_constructor_core</depend>
 
   <build_depend>eigen</build_depend>
   <build_depend>geometric_shapes</build_depend>