Merge branch 'master' into ros2

Author: rhaschke

.github/workflows/ci.yaml

@@ -40,8 +40,6 @@ jobs:
       CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UNDERLAY: ${{ endsWith(matrix.env.IMAGE, '-source') && '/root/ws_moveit/install' || ''}}
-      # TODO: Port to ROS2
-      # DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master"
       TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work

core/cmake/pybind11.cmake.in

@@ -1,5 +1,5 @@
 # pybind11 must use the ROS python version
-set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION_STRING})
+set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION})
 
 if(@INSTALLSPACE@)
 	include(${CMAKE_CURRENT_LIST_DIR}/pybind11Config.cmake)

core/python/CMakeLists.txt

@@ -2,6 +2,8 @@
 
 find_package(ament_cmake_python REQUIRED)
 find_package(Python3 COMPONENTS Interpreter Development)
+# pybind11 must use the ROS python version
+set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION})
 
 # Use minimum-size optimization for pybind11 bindings
 add_compile_options("-Os")

core/python/bindings/src/core.cpp

@@ -414,6 +414,7 @@ void export_core(pybind11::module& m) {
 
 	    .def("loadRobotModel", &Task::loadRobotModel, "node"_a, "robot_description"_a = "robot_description",
 	         "Load robot model from given ROS parameter")
+	    .def("setRobotModel", &Task::setRobotModel, "robot_model"_a, "Set the robot model for the task")
 	    .def("getRobotModel", &Task::getRobotModel)
 	    .def("enableIntrospection", &Task::enableIntrospection, "enabled"_a = true,
 	         "Enable publishing intermediate results for inspection in ``rviz``")