From 365306eb5e8a3f231db583a261526c52e0026f1c Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 1 Jul 2024 13:22:14 +0200 Subject: [PATCH 1/5] =?UTF-8?q?=F0=9F=9B=A0=EF=B8=8F=20Bump=20reproducible?= =?UTF-8?q?-containers/buildkit-cache-dance=20from=203.1.1=20to=203.1.2=20?= =?UTF-8?q?(#2894)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Bumps [reproducible-containers/buildkit-cache-dance](https://github.com/reproducible-containers/buildkit-cache-dance) from 3.1.1 to 3.1.2. - [Release notes](https://github.com/reproducible-containers/buildkit-cache-dance/releases) - [Commits](https://github.com/reproducible-containers/buildkit-cache-dance/compare/v3.1.1...v3.1.2) --- updated-dependencies: - dependency-name: reproducible-containers/buildkit-cache-dance dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/tutorial_docker.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml index cb0b0ed4794..2438e4750f4 100644 --- a/.github/workflows/tutorial_docker.yaml +++ b/.github/workflows/tutorial_docker.yaml @@ -51,7 +51,7 @@ jobs: path: .ccache key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }} - name: inject ccache into docker - uses: reproducible-containers/buildkit-cache-dance@v3.1.1 + uses: reproducible-containers/buildkit-cache-dance@v3.1.2 with: cache-source: .ccache cache-target: /root/.ccache/ From 42c5a2950b07870dbf9a543bad123d36f2b38b5f Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Mon, 8 Jul 2024 13:52:48 -0400 Subject: [PATCH 2/5] Switch to system version of octomap. (#2881) This is so that we have a consistent ABI between these packages and anything else in the system that depends on octomap. We'll eventually be removing the ROS-provided version of octomap to make sure we don't have these problems in the future. Signed-off-by: Chris Lalancette Co-authored-by: Sebastian Jahr --- moveit_core/package.xml | 8 +------- moveit_ros/occupancy_map_monitor/package.xml | 8 +------- 2 files changed, 2 insertions(+), 14 deletions(-) diff --git a/moveit_core/package.xml b/moveit_core/package.xml index 76dd4b5596e..15e7fd5603e 100644 --- a/moveit_core/package.xml +++ b/moveit_core/package.xml @@ -41,13 +41,7 @@ libfcl-dev moveit_common moveit_msgs - + liboctomap-dev octomap_msgs osqp_vendor pluginlib diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml index 6ba31b2f19f..21fba78c5cf 100644 --- a/moveit_ros/occupancy_map_monitor/package.xml +++ b/moveit_ros/occupancy_map_monitor/package.xml @@ -26,13 +26,7 @@ rclcpp moveit_core moveit_msgs - + liboctomap-dev pluginlib tf2_ros geometric_shapes From d59cffbbc7d1b489670c01da9fe8111d3a8753ce Mon Sep 17 00:00:00 2001 From: Jens Vanhooydonck Date: Thu, 11 Jul 2024 19:42:15 +0200 Subject: [PATCH 3/5] [Moveitpy] new planning scene message (#2885) --- .../planning_scene_monitor/planning_scene_monitor.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp b/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp index 0eec42dd18b..1df36f6a0cd 100644 --- a/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp +++ b/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp @@ -175,6 +175,15 @@ void initPlanningSceneMonitor(py::module& m) attached_collision_object_msg (moveit_msgs.msg.AttachedCollisionObject): The attached collision object to apply to the planning scene. )") + .def("new_planning_scene_message", &planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage, + py::arg("scene"), + R"( + Called to update the planning scene with a new message. + + Args: + scene (moveit_msgs.msg.PlanningScene): The new planning scene message. + )") + .def("read_only", &moveit_py::bind_planning_scene_monitor::readOnly, R"( Returns a read-only context manager for the planning scene. From 9b3d96a7f032da5335e02c1d6bf53e11f8ef5f80 Mon Sep 17 00:00:00 2001 From: Jens Vanhooydonck Date: Thu, 11 Jul 2024 19:44:30 +0200 Subject: [PATCH 4/5] [MoveitPy] Added namespace to MoveitPy (#2884) --- .../src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp b/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp index 955e66d09d2..5997f1cadf1 100644 --- a/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp +++ b/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp @@ -60,8 +60,9 @@ void initMoveitPy(py::module& m) The MoveItPy class is the main interface to the MoveIt Python API. It is a wrapper around the MoveIt C++ API. )") - .def(py::init([](const std::string& node_name, const std::vector& launch_params_filepaths, - const py::object& config_dict, bool provide_planning_service) { + .def(py::init([](const std::string& node_name, const std::string& name_space, + const std::vector& launch_params_filepaths, const py::object& config_dict, + bool provide_planning_service) { // This section is used to load the appropriate node parameters before spinning a moveit_cpp instance // Priority is given to parameters supplied directly via a config_dict, followed by launch parameters // and finally no supplied parameters. @@ -106,7 +107,7 @@ void initMoveitPy(py::module& m) .arguments(launch_arguments); RCLCPP_INFO(getLogger(), "Initialize node and executor"); - rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared(node_name, "", node_options); + rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared(node_name, name_space, node_options); std::shared_ptr executor = std::make_shared(); @@ -133,7 +134,7 @@ void initMoveitPy(py::module& m) return moveit_cpp_ptr; }), - py::arg("node_name") = "moveit_py", + py::arg("node_name") = "moveit_py", py::arg("name_space") = "", py::arg("launch_params_filepaths") = utils.attr("get_launch_params_filepaths")().cast>(), py::arg("config_dict") = py::none(), py::arg("provide_planning_service") = true, From 865b006036ebf21226859c3f64a3e829c087205d Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Thu, 11 Jul 2024 19:45:12 +0200 Subject: [PATCH 5/5] PSM: Correctly handle full planning scene message (#3610) (#2876) Fixes #3538/#3609 If the message is not a diff and parent_scene is not set either, the message should be handled as a full planning scene message as before #3538. Co-authored-by: Robert Haschke --- moveit_core/planning_scene/src/planning_scene.cpp | 1 + .../planning_scene_monitor/src/planning_scene_monitor.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp index 908a053df89..eaffc31d42e 100644 --- a/moveit_core/planning_scene/src/planning_scene.cpp +++ b/moveit_core/planning_scene/src/planning_scene.cpp @@ -1262,6 +1262,7 @@ bool PlanningScene::setPlanningSceneDiffMsg(const moveit_msgs::msg::PlanningScen bool PlanningScene::setPlanningSceneMsg(const moveit_msgs::msg::PlanningScene& scene_msg) { + assert(scene_msg.is_diff == false); RCLCPP_DEBUG(getLogger(), "Setting new planning scene: '%s'", scene_msg.name.c_str()); name_ = scene_msg.name; 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 index 648cd471622..103a7e1d092 100644 --- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp +++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp @@ -740,7 +740,7 @@ bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::msg::Plann } else { - result = scene_->setPlanningSceneDiffMsg(scene); + result = scene_->usePlanningSceneMsg(scene); } if (octomap_monitor_)