Merge branch 'master' into ros2

Author: rhaschke

capabilities/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_capabilities
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Michael Görner, Robert Haschke

capabilities/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
 	<name>moveit_task_constructor_capabilities</name>
-	<version>0.0.0</version>
+	<version>0.1.0</version>
 	<description>
 	MoveGroupCapabilites to interact with MoveIt
 	</description>

core/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_core
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Michael Görner, Robert Haschke, Captain Yoshi, Christian Petersmeier, Henning Kayser, Jafar Abdi, Tyler Weaver

core/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
 	<name>moveit_task_constructor_core</name>
-	<version>0.0.0</version>
+	<version>0.1.0</version>
 	<description>MoveIt Task Pipeline</description>
 
 	<url type="website">https://github.com/ros-planning/moveit_task_constructor</url>

core/src/stages/generate_pose.cpp

@@ -72,7 +72,9 @@ void GeneratePose::compute() {
 	if (upstream_solutions_.empty())
 		return;
 
-	planning_scene::PlanningScenePtr scene = upstream_solutions_.pop()->end()->scene()->diff();
+	const SolutionBase& s = *upstream_solutions_.pop();
+	planning_scene::PlanningSceneConstPtr scene = s.end()->scene()->diff();
+
 	geometry_msgs::msg::PoseStamped target_pose = properties().get<geometry_msgs::msg::PoseStamped>("pose");
 	if (target_pose.header.frame_id.empty())
 		target_pose.header.frame_id = scene->getPlanningFrame();
@@ -82,6 +84,7 @@ void GeneratePose::compute() {
 	}
 
 	InterfaceState state(scene);
+	forwardProperties(*s.end(), state);  // forward registered properties from received solution
 	state.properties().set("target_pose", target_pose);
 
 	SubTrajectory trajectory;

demo/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_demo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Michael Görner, Robert Haschke

demo/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_task_constructor_demo</name>
-  <version>0.0.1</version>
+  <version>0.1.0</version>
   <description>demo tasks illustrating various capabilities of MTC.</description>
 
   <author email="[email protected]">simon Goldstein</author>

msgs/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_task_constructor_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Michael Görner, Robert Haschke

msgs/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
 	<name>moveit_task_constructor_msgs</name>
-	<version>0.0.0</version>
+	<version>0.1.0</version>
 	<description>Messages for MoveIt Task Pipeline</description>
 
 	<license>BSD</license>

rviz_marker_tools/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package rviz_marker_tools
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2023-02-02)
+------------------
+* Initial release
+* Contributors: Robert Haschke, Michael Görner