Fix the timestep calculation. Look for ::Finished status, not ::Working

.docker/ci/Dockerfile

@@ -2,7 +2,7 @@
 # ROS base image augmented with all MoveIt dependencies to use for CI
 
 ARG ROS_DISTRO=rolling
-FROM ros:${ROS_DISTRO}-ros-base-focal
+FROM ros:${ROS_DISTRO}-ros-base
 MAINTAINER Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 ENV TERM xterm
@@ -25,7 +25,7 @@ RUN \
         # Some basic requirements
         wget git sudo curl \
         # Preferred build tools
-        clang clang-format-10 clang-tidy clang-tools \
+        clang clang-format-12 clang-tidy clang-tools \
         ccache && \
     #
     # Fetch all dependencies from moveit2.repos

.docker/release/Dockerfile

@@ -2,7 +2,7 @@
 # Full debian-based install of MoveIt using apt-get
 
 ARG ROS_DISTRO=rolling
-FROM ros:${ROS_DISTRO}-ros-base-focal
+FROM ros:${ROS_DISTRO}-ros-base
 MAINTAINER Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size

.github/workflows/ci.yaml

@@ -20,27 +20,32 @@ jobs:
             CCOV: true
             ROS_DISTRO: rolling
           - IMAGE: rolling-ci-testing
-            IKFAST_TEST: true
             ROS_DISTRO: rolling
+            IKFAST_TEST: true
             CLANG_TIDY: pedantic
     env:
-      CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"
+      CXXFLAGS: >-
+        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: moveit2.repos $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
       # Pull any updates to the upstream workspace (after restoring it from cache)
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
       # Clear the ccache stats before and log the stats after the build
+      AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
       BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z
       AFTER_BUILD_TARGET_WORKSPACE: ccache -s
       # Changing linker to lld as ld has a behavior where it takes a long time to finish
+      # Compile CCOV with Debug. Enable -Werror (except CLANG_TIDY=pedantic, which makes the clang-tidy step fail on warnings)
       TARGET_CMAKE_ARGS: >
         -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}$CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
+      DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}

.github/workflows/format.yaml

@@ -17,8 +17,8 @@ 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/action@v2.0.3
       id: precommit
     - name: Upload pre-commit changes

.pre-commit-config.yaml

@@ -33,7 +33,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 20.8b1
+    rev: 22.3.0
     hooks:
       - id: black
 
@@ -42,7 +42,7 @@ 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']

MIGRATION.md

@@ -3,11 +3,16 @@
 API changes in MoveIt releases
 
 ## ROS Rolling
+- `lockSceneRead()` and `lockSceneWrite()` are now protected member functions, for internal use only. To lock the planning scene, use LockedPlanningSceneRO or LockedPlanningSceneRW:
+```
+      planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor);
+      moveit::core::RobotModelConstPtr model = ls->getRobotModel();
+```
 - ServoServer was renamed to ServoNode
 - `CollisionObject` messages are now defined with a `Pose`, and shapes and subframes are defined relative to the object's pose. This makes it easier to place objects with subframes and multiple shapes in the scene. This causes several changes:
     - `getFrameTransform()` now returns this pose instead of the first shape's pose.
     - The Rviz plugin's manipulation tab now uses the object's pose instead of the shape pose to evaluate if object's are in the region of interest.
-    - Planning scene geometry text files (`.scene`) have changed format. Add a line `0 0 0 0 0 0 1` under each line with an asterisk to upgrade old files if required.
+    - Planning scene geometry text files (`.scene`) have changed format. Loading old files is still supported. You can add a line `0 0 0 0 0 0 1` under each line with an asterisk to upgrade old files.
 - add API for passing RNG to setToRandomPositionsNearBy
 - Static member variable interface of the CollisionDetectorAllocatorTemplate for the string NAME was replaced with a virtual method `getName`.
 - Enhance `RDFLoader` to load from string parameter OR string topic (and add the ability to publish a string topic).
@@ -32,6 +37,8 @@ API changes in MoveIt releases
 - Removed deprecated header `moveit/macros/deprecation.h`. Use `[[deprecated]]` instead.
 - All uses of `MOVEIT_CLASS_FORWARD` et. al. must now be followed by a semicolon for consistency (and to get -pedantic builds to pass for the codebase).
 - In case you start RViz in a namespace, the default topic for the trajectory visualization display now uses the relative instead of the absolute namespace (i.e. `<ns>/move_group/display_planned_path` instead of `/move_group/display_planned_path`).
+- `RobotState::attachBody()` now takes a unique_ptr instead of an owning raw pointer.
+- Moved the class `MoveItErrorCode` from both `moveit_ros_planning` and `moveit_ros_planning_interface` to `moveit_core`. The class now is in namespace `moveit::core`, access via `moveit::planning_interface` or `moveit_cpp::PlanningComponent` is deprecated.
 
 ## ROS Melodic
 

moveit/scripts/create_readme_table.py

@@ -29,6 +29,9 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+# Usage: python moveit/moveit/scripts/create_readme_table.py > /tmp/table.md
+# First update supported_distro_ubuntu_dict below!
+
 
 from __future__ import print_function
 
@@ -77,7 +80,7 @@ def create_line(package, ros_ubuntu_dict):
             "U": ubuntu[0].upper(),
             "ubuntu": ubuntu.lower(),
             "package": package,
-            "base_url": "http://build.ros.org",
+            "base_url": "https://build.ros.org",
         }
         for target in ["src", "bin"]:
             define_urls(target, params)
@@ -102,7 +105,6 @@ def create_moveit_buildfarm_table():
     # remove {"indigo":"trusty"} and add {"noetic":"fbuntu"} with "fbuntu"
     # being whatever the 20.04 distro is named
     supported_distro_ubuntu_dict = {
-        "kinetic": "xenial",
         "melodic": "bionic",
         "noetic": "focal",
     }

moveit2.repos

@@ -2,20 +2,12 @@ repositories:
   geometric_shapes:
     type: git
     url: https://github.com/ros-planning/geometric_shapes
-    version: 2.1.2
-  moveit_msgs:
-    type: git
-    url: https://github.com/ros-planning/moveit_msgs
-    version: 2.2.0
+    version: ros2
   moveit_resources:
     type: git
     url: https://github.com/ros-planning/moveit_resources
     version: ros2
-  launch_param_builder:
+  srdfdom:
     type: git
-    url: https://github.com/PickNikRobotics/launch_param_builder
-    version: main
-  ros2_control:
-    type: git
-    url: https://github.com/ros-controls/ros2_control.git
-    version: 2.1.0
+    url: https://github.com/ros-planning/srdfdom.git
+    version: ros2

moveit_commander/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_commander</name>
-  <version>1.1.6</version>
+  <version>1.1.7</version>
   <description>Python interfaces to MoveIt</description>
   <maintainer email="me@v4hn.de">Michael Görner</maintainer>
   <maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>