moveit · mosfet80 · Aug 9, 2024 · Aug 9, 2024 · Aug 9, 2024 · Aug 10, 2024
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -35,11 +35,11 @@ jobs:
     name: ${{ matrix.env.IMAGE }}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: cache upstream_ws
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           save-always: true
           path: ${{ env.BASEDIR }}/upstream_ws
@@ -49,15 +49,15 @@ jobs:
       # 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
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           save-always: true
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           save-always: true
           path: ${{ env.CCACHE_DIR }}

diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -1,23 +1,20 @@
 # This is a format job. Pre-commit has a first-party GitHub action, so we use
 # that: https://github.com/pre-commit/action
 
-name: Format
+name: Formatting (pre-commit)
 
 on:
   workflow_dispatch:
   pull_request:
+  merge_group:
   push:
     branches:
       - main
-      - humble
-
-permissions:
-  contents: read # to fetch code (actions/checkout)
 
 jobs:
   pre-commit:
     name: Format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
@@ -26,3 +23,9 @@ jobs:
     - name: Install clang-format-14
       run: sudo apt-get install clang-format-14
     - uses: pre-commit/action@v3.0.1
+      id: precommit
+    - name: Upload pre-commit changes
+      if: failure() && steps.precommit.outcome == 'failure'
+      uses: rhaschke/upload-git-patch-action@main
+      with:
+        name: pre-commit
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,6 +3,8 @@ project(moveit2_tutorials)
 
 # Common cmake code applied to all moveit packages
 find_package(moveit_common REQUIRED)
+find_package(OpenSSL REQUIRED)
+
 moveit_package()
 
 set(THIS_PACKAGE_INCLUDE_DIRS
@@ -20,14 +22,14 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   moveit_ros_planning
   moveit_ros_planning_interface
   moveit_ros_trajectory_cache
-  moveit_servo
-  moveit_task_constructor_core
-  moveit_visual_tools
+ # moveit_servo
+ # moveit_task_constructor_core
+ # moveit_visual_tools
   pluginlib
   rclcpp
   rclcpp_action
-  rviz_visual_tools
-  tf2_geometry_msgs
+#  rviz_visual_tools
+#  tf2_geometry_msgs
   tf2_geometry_msgs
   tf2_ros
   warehouse_ros_sqlite
@@ -77,9 +79,6 @@ add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
 add_subdirectory(doc/tutorials/quickstart_in_rviz)
 add_subdirectory(doc/how_to_guides/pick_ik)
 
-ament_export_dependencies(
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
-)
 
 ament_export_include_directories(include)
 

diff --git a/doc/examples/bullet_collision_checker/CMakeLists.txt b/doc/examples/bullet_collision_checker/CMakeLists.txt
@@ -4,10 +4,4 @@ add_executable(bullet_collision_checker_tutorial
 target_link_libraries(bullet_collision_checker_tutorial
     ${interactive_markers_LIBRARIES}
     interactivity_utils
-    ${catkin_LIBRARIES}
     ${Boost_LIBRARIES})
-
-install(TARGETS bullet_collision_checker_tutorial
-    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/doc/examples/collision_environments/CMakeLists.txt b/doc/examples/collision_environments/CMakeLists.txt
@@ -1,9 +1,9 @@
+
 add_executable(collision_scene_example
     src/collision_scene_example.cpp)
 target_include_directories(collision_scene_example
     PUBLIC include)
-ament_target_dependencies(collision_scene_example
-    ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+target_link_libraries(collision_scene_example PUBLIC rclcpp::rclcpp moveit_ros_planning_interface::moveit_move_group_interface)
 
 install(TARGETS collision_scene_example
     ARCHIVE DESTINATION lib

diff --git a/doc/examples/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt b/doc/examples/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt
@@ -1,13 +1,11 @@
 include_directories(include)
 include_directories(
   SYSTEM
-  ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
 )
 
 add_executable(lerp_example  src/lerp_example.cpp)
 target_link_libraries(lerp_example
-  ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
 )
 
@@ -17,39 +15,8 @@ add_library(moveit_lerp_planner_plugin
   src/lerp_interface.cpp
   src/lerp_planning_context.cpp)
 set_target_properties(moveit_lerp_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(moveit_lerp_planner_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(moveit_lerp_planner_plugin  ${Boost_LIBRARIES})
 
 #############
 ## Install ##
 #############
-
-# Mark executables and/or libraries for installation
-install(
-  TARGETS
-    moveit_lerp_planner_plugin
-  ARCHIVE DESTINATION
-    ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION
-    ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION
-    ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-# Mark cpp header files for installation
-install(
-  DIRECTORY
-    include
-  DESTINATION
-    ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-
-# Mark roslaunch files for installation
-install(
-  DIRECTORY
-    launch
-  DESTINATION
-    ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-#catkin_lint ignore uninstalled_plugin
-install(FILES lerp_interface_plugin_description.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/doc/creating_moveit_plugins/lerp_motion_planner/)
diff --git a/doc/examples/interactivity/CMakeLists.txt b/doc/examples/interactivity/CMakeLists.txt
@@ -6,25 +6,6 @@ add_library(${INTERACTIVITY_LIB_NAME}
   src/pose_string.cpp
 )
 
-# add_executable(interactivity_tutorial
-  # src/interactivity_tutorial.cpp
-  # src/interactive_robot.cpp
-  # src/imarker.cpp
-  # src/pose_string.cpp
-# )
-# target_link_libraries(interactivity_tutorial
-  # ${catkin_LIBRARIES}
-  # ${Boost_LIBRARIES}
-  # ${interactive_markers_LIBRARIES}
-# )
-#
-# add_executable(attached_body_tutorial
-  # src/attached_body_tutorial.cpp
-  # src/interactive_robot.cpp
-  # src/imarker.cpp
-  # src/pose_string.cpp
-# )
-
 target_link_libraries(
   ${INTERACTIVITY_LIB_NAME}
   ${catkin_LIBRARIES}

diff --git a/doc/examples/motion_planning_api/CMakeLists.txt b/doc/examples/motion_planning_api/CMakeLists.txt
@@ -1,9 +1,17 @@
+find_package(graph_msgs REQUIRED)
+find_package(moveit_msgs REQUIRED)
+find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
 add_executable(motion_planning_api_tutorial
     src/motion_planning_api_tutorial.cpp)
 target_include_directories(motion_planning_api_tutorial
   PUBLIC include)
-ament_target_dependencies(motion_planning_api_tutorial
-  ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+target_link_libraries(motion_planning_api_tutorial PUBLIC
+${graph_msgs_TARGETS}
+pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader moveit_visual_tools::moveit_visual_tools
+moveit_ros_planning_interface::moveit_move_group_interface
+)
 
 install(TARGETS motion_planning_api_tutorial
   DESTINATION lib/${PROJECT_NAME}

diff --git a/doc/examples/motion_planning_pipeline/CMakeLists.txt b/doc/examples/motion_planning_pipeline/CMakeLists.txt
@@ -1,9 +1,15 @@
+find_package(graph_msgs REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+
 add_executable(motion_planning_pipeline_tutorial
     src/motion_planning_pipeline_tutorial.cpp)
 target_include_directories(motion_planning_pipeline_tutorial
     PUBLIC include)
-ament_target_dependencies(motion_planning_pipeline_tutorial
-    ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(motion_planning_pipeline_tutorial PUBLIC
+${graph_msgs_TARGETS}
+pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader
+moveit_visual_tools::moveit_visual_tools rviz_visual_tools::rviz_visual_tools)
 
 install(TARGETS motion_planning_pipeline_tutorial
     DESTINATION lib/${PROJECT_NAME}

diff --git a/doc/examples/motion_planning_python_api/CMakeLists.txt b/doc/examples/motion_planning_python_api/CMakeLists.txt
@@ -1,3 +1,7 @@
+find_package(graph_msgs REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+
 install(PROGRAMS
   scripts/motion_planning_python_api_tutorial.py
   scripts/motion_planning_python_api_planning_scene.py

diff --git a/doc/examples/move_group_interface/CMakeLists.txt b/doc/examples/move_group_interface/CMakeLists.txt
@@ -1,9 +1,13 @@
+find_package(graph_msgs REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+
 add_executable(move_group_interface_tutorial
     src/move_group_interface_tutorial.cpp)
 target_include_directories(move_group_interface_tutorial
     PUBLIC include)
-ament_target_dependencies(move_group_interface_tutorial
-    ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+target_link_libraries(move_group_interface_tutorial PUBLIC  moveit_ros_move_group::moveit_move_group_capabilities_base
+moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools)
 
 install(TARGETS move_group_interface_tutorial
   DESTINATION lib/${PROJECT_NAME}

diff --git a/doc/examples/moveit_cpp/CMakeLists.txt b/doc/examples/moveit_cpp/CMakeLists.txt
@@ -1,6 +1,10 @@
+find_package(graph_msgs REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+
 add_executable(moveit_cpp_tutorial src/moveit_cpp_tutorial.cpp)
 target_include_directories(moveit_cpp_tutorial PUBLIC include)
-ament_target_dependencies(moveit_cpp_tutorial  ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+target_link_libraries(moveit_cpp_tutorial PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_cpp moveit_visual_tools::moveit_visual_tools)
 
 install(TARGETS moveit_cpp_tutorial
   DESTINATION lib/${PROJECT_NAME}

diff --git a/doc/examples/planning_scene/CMakeLists.txt b/doc/examples/planning_scene/CMakeLists.txt
@@ -2,8 +2,7 @@ add_executable(planning_scene_tutorial
     src/planning_scene_tutorial.cpp)
 target_include_directories(planning_scene_tutorial
     PUBLIC include)
-ament_target_dependencies(planning_scene_tutorial
-    ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+target_link_libraries(planning_scene_tutorial PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_robot_model_loader)
 
 install(TARGETS planning_scene_tutorial
     DESTINATION lib/${PROJECT_NAME}

diff --git a/doc/examples/planning_scene_ros_api/CMakeLists.txt b/doc/examples/planning_scene_ros_api/CMakeLists.txt
@@ -1,9 +1,14 @@
+find_package(graph_msgs REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+
 add_executable(planning_scene_ros_api_tutorial
     src/planning_scene_ros_api_tutorial.cpp)
 target_include_directories(planning_scene_ros_api_tutorial
     PUBLIC include)
-ament_target_dependencies(planning_scene_ros_api_tutorial
-    ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+
+target_link_libraries(planning_scene_ros_api_tutorial PRIVATE  rclcpp::rclcpp   moveit_msgs::moveit_msgs__rosidl_typesupport_cpp rviz_visual_tools::rviz_visual_tools
+ moveit_core::moveit_planning_scene moveit_ros_planning::moveit_robot_model_loader ${geometry_msgs_TARGETS} moveit_visual_tools::moveit_visual_tools)
 
 install(TARGETS planning_scene_ros_api_tutorial
     DESTINATION lib/${PROJECT_NAME}

diff --git a/doc/examples/realtime_servo/CMakeLists.txt b/doc/examples/realtime_servo/CMakeLists.txt
@@ -1,6 +1,17 @@
+find_package(graph_msgs REQUIRED)
+find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_servo REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+
 add_executable(pose_tracking_tutorial src/pose_tracking_tutorial.cpp)
 target_include_directories(pose_tracking_tutorial PUBLIC include)
-ament_target_dependencies(pose_tracking_tutorial  ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(pose_tracking_tutorial PUBLIC
+      ${graph_msgs_TARGETS} ${moveit_servo_TARGETS} tf2_eigen::tf2_eigen
+      moveit_ros_planning::moveit_planning_scene_monitor
+       rviz_visual_tools::rviz_visual_tools
+)
 
 install(
   TARGETS

diff --git a/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp b/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp
@@ -119,7 +119,7 @@ class Door
 
   rclcpp::Node::SharedPtr node_;
   Eigen::Vector3d hinge_, center_, dims_;
-  double angle_, step_, rotation_radius_;
+  double angle_, rotation_radius_;
   rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr collision_object_publisher_;
   moveit_msgs::msg::CollisionObject collision_object_;
   shape_msgs::msg::SolidPrimitive door_primitive_;

diff --git a/doc/examples/robot_model_and_robot_state/CMakeLists.txt b/doc/examples/robot_model_and_robot_state/CMakeLists.txt
@@ -2,8 +2,7 @@ add_executable(robot_model_and_robot_state_tutorial
     src/robot_model_and_robot_state_tutorial.cpp)
 target_include_directories(robot_model_and_robot_state_tutorial
     PUBLIC include)
-ament_target_dependencies(robot_model_and_robot_state_tutorial
-    ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+target_link_libraries(robot_model_and_robot_state_tutorial PUBLIC moveit_ros_planning::moveit_robot_model_loader)
 
 install(TARGETS robot_model_and_robot_state_tutorial
     DESTINATION lib/${PROJECT_NAME}

diff --git a/doc/examples/tests/CMakeLists.txt b/doc/examples/tests/CMakeLists.txt
@@ -1,5 +1,5 @@
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(tests_tutorial test/tests.cpp)
   target_link_libraries(tests_tutorial
-    ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+  ${Boost_LIBRARIES})
 endif()
diff --git a/doc/examples/visualizing_collisions/CMakeLists.txt b/doc/examples/visualizing_collisions/CMakeLists.txt
@@ -5,13 +5,5 @@ add_executable(visualizing_collisions_tutorial
 target_link_libraries(visualizing_collisions_tutorial
   ${interactive_markers_LIBRARIES}
   interactivity_utils
-  ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
 )
-
-install(
-  TARGETS
-  visualizing_collisions_tutorial
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt b/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt
@@ -1,9 +1,14 @@
+find_package(graph_msgs REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+
 add_executable(kinematics_cost_function_tutorial
     src/kinematics_cost_function_tutorial.cpp)
 target_include_directories(kinematics_cost_function_tutorial
     PUBLIC include)
-ament_target_dependencies(kinematics_cost_function_tutorial
-    ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+target_link_libraries(kinematics_cost_function_tutorial PUBLIC moveit_ros_move_group::moveit_move_group_capabilities_base
+moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools)
 
 install(TARGETS kinematics_cost_function_tutorial
   DESTINATION lib/${PROJECT_NAME}