Merge branch 'main' into ch3/trajectory_cache

.docker/ci-testing/Dockerfile

@@ -1,4 +1,4 @@
-# ghcr.io/ros-planning/moveit2:${OUR_ROS_DISTRO}-ci-testing
+# ghcr.io/moveit/moveit2:${OUR_ROS_DISTRO}-ci-testing
 # CI image using the ROS testing repository
 
 FROM osrf/ros2:testing

.docker/ci/Dockerfile

@@ -1,4 +1,4 @@
-# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci
+# ghcr.io/moveit/moveit2:${ROS_DISTRO}-ci
 # ROS base image augmented with all MoveIt dependencies to use for CI
 
 ARG ROS_DISTRO=rolling

.docker/release/Dockerfile

@@ -1,4 +1,4 @@
-# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-release
+# ghcr.io/moveit/moveit2:${ROS_DISTRO}-release
 # Full debian-based install of MoveIt using apt-get
 
 ARG ROS_DISTRO=rolling

.docker/source/Dockerfile

@@ -1,10 +1,10 @@
 # syntax = docker/dockerfile:1.3
 
-# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-source
+# ghcr.io/moveit/moveit2:${ROS_DISTRO}-source
 # Downloads the moveit source code and install remaining debian dependencies
 
 ARG ROS_DISTRO=rolling
-FROM moveit/moveit2:${ROS_DISTRO}-ci-testing
+FROM moveit/moveit2:${ROS_DISTRO}-ci
 LABEL maintainer Robert Haschke [email protected]
 
 # Export ROS_UNDERLAY for downstream docker containers

.docker/tutorial-source/Dockerfile

@@ -1,6 +1,6 @@
 # syntax = docker/dockerfile:1.3
 
-# ghcr.io/ros-planning/moveit2:main-${ROS_DISTRO}-tutorial-source
+# ghcr.io/moveit/moveit2:main-${ROS_DISTRO}-tutorial-source
 # Source build of the repos file from the tutorail site
 
 ARG ROS_DISTRO=rolling
@@ -20,7 +20,7 @@ RUN --mount=type=cache,target=/root/.ccache/,sharing=locked \
         # Enable ccache
         PATH=/usr/lib/ccache:$PATH && \
         # Checkout the tutorial repo
-        git clone https://github.com/ros-planning/moveit2_tutorials src/moveit2_tutorials && \
+        git clone https://github.com/moveit/moveit2_tutorials src/moveit2_tutorials && \
         # Fetch required upstream sources for building
         vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos && \
         # Source ROS install

.github/ISSUE_TEMPLATE/first_timers_only.md

@@ -18,7 +18,7 @@ We're interested in helping you take the first step, and can answer questions an
 
 We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝
 
-If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/ros-planning/moveit2/labels/bug) issues. Thanks!
+If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/moveit/moveit2/labels/bug) issues. Thanks!
 
 ### 🤔 What you will need to know.
 

.github/PULL_REQUEST_TEMPLATE.md

@@ -5,9 +5,9 @@ Please explain the changes you made, including a reference to the related issue
 ### Checklist
 - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)
 - [ ] Extend the tutorials / documentation [reference](http://moveit.ros.org/documentation/contributing/)
-- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/ros-planning/moveit2/blob/main/MIGRATION.md) notes
+- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/moveit/moveit2/blob/main/MIGRATION.md) notes
 - [ ] Create tests, which fail without this PR [reference](https://moveit.picknik.ai/humble/doc/examples/tests/tests_tutorial.html)
 - [ ] Include a screenshot if changing a GUI
-- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/ros-planning/moveit2/pulls) to support the maintainers
+- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/moveit/moveit2/pulls) to support the maintainers
 
 [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!"

.github/workflows/ci.yaml

@@ -84,7 +84,7 @@ jobs:
           df -h
       - uses: actions/checkout@v4
       - uses: testspace-com/setup-testspace@v1
-        if: github.repository == 'ros-planning/moveit2'
+        if: github.repository == 'moveit/moveit2'
         with:
           domain: ros-planning
       - name: Get latest release date for rosdistro
@@ -141,7 +141,7 @@ jobs:
         uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
       - name: Push result to Testspace
-        if: always() && (github.repository == 'ros-planning/moveit2')
+        if: always() && (github.repository == 'moveit/moveit2')
         run: |
           testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
       - name: Upload test artifacts (on failure)

.github/workflows/docker.yaml

@@ -25,11 +25,21 @@ jobs:
       packages: write
       contents: read
     env:
-      GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
       DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }}
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
 
     steps:
+      - uses: rhaschke/docker-run-action@v5
+        name: Check for apt updates
+        continue-on-error: true
+        id: apt
+        with:
+          image: ${{ env.IMAGE }}
+          run: |
+            apt-get update
+            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
+            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
       - name: Login to Github Container Registry
@@ -51,7 +61,9 @@ jobs:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
-          no-cache: true
+          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
+          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
+          cache-to: type=inline
           tags: |
             ${{ env.GH_IMAGE }}
             ${{ env.DH_IMAGE }}
@@ -66,52 +78,21 @@ jobs:
       packages: write
       contents: read
     env:
-      GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
       DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }}
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
 
     steps:
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-      - name: Login to Github Container Registry
-        if: env.PUSH == 'true'
-        uses: docker/login-action@v3
+      - uses: rhaschke/docker-run-action@v5
+        name: Check for apt updates
+        continue-on-error: true
+        id: apt
         with:
-          registry: ghcr.io
-          username: ${{ github.repository_owner }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-      - name: Login to DockerHub
-        if: env.PUSH == 'true'
-        uses: docker/login-action@v3
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and Push
-        uses: docker/build-push-action@v5
-        with:
-          file: .docker/${{ github.job }}/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
-          push: ${{ env.PUSH }}
-          no-cache: true
-          tags: |
-            ${{ env.GH_IMAGE }}
-            ${{ env.DH_IMAGE }}
-
-  ci-testing:
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [rolling]
-    runs-on: ubuntu-latest
-    permissions:
-      packages: write
-      contents: read
-    env:
-      GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }}
-
-    steps:
+          image: ${{ env.IMAGE }}
+          run: |
+            apt-get update
+            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
+            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
       - name: Login to Github Container Registry
@@ -131,15 +112,19 @@ jobs:
         uses: docker/build-push-action@v5
         with:
           file: .docker/${{ github.job }}/Dockerfile
-          build-args: OUR_ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
-          no-cache: true
+          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
+          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
+          cache-to: type=inline
           tags: |
             ${{ env.GH_IMAGE }}
+            ${{ env.GH_IMAGE }}-testing
             ${{ env.DH_IMAGE }}
+            ${{ env.DH_IMAGE }}-testing
 
   source:
-    needs: ci-testing
+    needs: ci
     strategy:
       fail-fast: false
       matrix:
@@ -149,9 +134,9 @@ jobs:
       packages: write
       contents: read
     env:
-      GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
       DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }}
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
 
     steps:
       - uses: actions/checkout@v4
@@ -179,7 +164,8 @@ jobs:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
-          no-cache: true
+          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
+          cache-to: type=inline
           tags: |
             ${{ env.GH_IMAGE }}
             ${{ env.DH_IMAGE }}
@@ -191,7 +177,7 @@ jobs:
       - source
     steps:
       - name: Delete Untagged Images
-        if: (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2')
+        if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
         uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
@@ -207,6 +193,6 @@ jobs:
                 }
             }
         env:
-          OWNER: ros-planning
+          OWNER: moveit
           PACKAGE_NAME: moveit2
           PER_PAGE: 100

.github/workflows/sonar.yaml

@@ -57,7 +57,7 @@ jobs:
           df -h
       - uses: actions/checkout@v4
       - uses: testspace-com/setup-testspace@v1
-        if: github.repository == 'ros-planning/moveit2'
+        if: github.repository == 'moveit/moveit2'
         with:
           domain: ros-planning
       - name: Get latest release date for rosdistro

.github/workflows/tutorial_docker.yaml

@@ -22,9 +22,9 @@ jobs:
       packages: write
       contents: read
     env:
-      GH_IMAGE: ghcr.io/ros-planning/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      GH_IMAGE: ghcr.io/moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }}
       DH_IMAGE: moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }}
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
 
     steps:
       - uses: actions/checkout@v4
@@ -74,7 +74,7 @@ jobs:
       - tutorial-source
     steps:
       - name: Delete Untagged Images
-        if: (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2')
+        if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
         uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
@@ -90,6 +90,6 @@ jobs:
                 }
             }
         env:
-          OWNER: ros-planning
+          OWNER: moveit
           PACKAGE_NAME: moveit2
           PER_PAGE: 100

README.md

@@ -1,13 +1,13 @@
 <img src="https://moveit.ros.org/assets/logo/moveit_logo-black.png" alt="MoveIt Logo" width="200"/>
 
-The [MoveIt Motion Planning Framework for ROS 2](http://moveit.ros.org). For the ROS 1 repository see [MoveIt 1](https://github.com/ros-planning/moveit). For the commercially supported version see [MoveIt Pro](http://picknik.ai/pro).
+The [MoveIt Motion Planning Framework for ROS 2](http://moveit.ros.org). For the ROS 1 repository see [MoveIt 1](https://github.com/moveit/moveit). For the commercially supported version see [MoveIt Pro](http://picknik.ai/pro).
 
 *Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.*
 
 ## Continuous Integration Status
 
-[![Formatting (pre-commit)](https://github.com/ros-planning/moveit2/actions/workflows/format.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2/actions/workflows/format.yaml?query=branch%3Amain)
-[![CI (Rolling and Humble)](https://github.com/ros-planning/moveit2/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2/actions/workflows/ci.yaml?query=branch%3Amain)
+[![Formatting (pre-commit)](https://github.com/moveit/moveit2/actions/workflows/format.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit2/actions/workflows/format.yaml?query=branch%3Amain)
+[![CI (Rolling and Humble)](https://github.com/moveit/moveit2/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit2/actions/workflows/ci.yaml?query=branch%3Amain)
 [![Code Coverage](https://codecov.io/gh/ros-planning/moveit2/branch/main/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit2)
 
 ## Getting Started

moveit/package.xml

@@ -12,8 +12,8 @@
   <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org</url>
-  <url type="repository">https://github.com/ros-planning/moveit2</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
 
   <author email="[email protected]">Ioan Sucan</author>
   <author email="[email protected]">Sachin Chitta</author>

moveit/scripts/create_maintainer_table.py

@@ -161,7 +161,7 @@ def get_first_folder(path):
 
 def populate_package_data(path, package):
     output = (
-        "<td><a href='https://github.com/ros-planning/"
+        "<td><a href='https://github.com/moveit/"
         + get_first_folder(path)
         + "'>"
         + package.name

moveit2_rolling.repos

@@ -0,0 +1,9 @@
+repositories:
+  octomap:
+      type: git
+      url: https://github.com/octomap/octomap.git
+      version: devel
+  geometric_shapes:
+      type: git
+      url: https://github.com/moveit/geometric_shapes.git
+      version: ros2

moveit_common/package.xml

@@ -11,8 +11,8 @@
   <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit2</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
 
   <author email="[email protected]">Lior Lustgarten</author>
 

moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py

@@ -414,7 +414,7 @@ def sensors_3d(self, file_path: Optional[str] = None):
         if sensors_path.exists():
             sensors_data = load_yaml(sensors_path)
             # TODO(mikeferguson): remove the second part of this check once
-            # https://github.com/ros-planning/moveit_resources/pull/141 has made through buildfarm
+            # https://github.com/moveit/moveit_resources/pull/141 has made through buildfarm
             if len(sensors_data["sensors"]) > 0 and sensors_data["sensors"][0]:
                 self.__moveit_configs.sensors_3d = sensors_data
         return self

moveit_core/package.xml

@@ -13,8 +13,8 @@
   <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit2</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
 
   <author email="[email protected]">Ioan Sucan</author>
   <author email="[email protected]">Sachin Chitta</author>

moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp

@@ -586,7 +586,7 @@ bool Trajectory::integrateForward(std::list<TrajectoryStep>& trajectory, double
     if (next_discontinuity != switching_points.end() && path_pos > next_discontinuity->first)
     {
       // Avoid having a TrajectoryStep with path_pos near a switching point which will cause an almost identical
-      // TrajectoryStep get added in the next run (https://github.com/ros-planning/moveit/issues/1665)
+      // TrajectoryStep get added in the next run (https://github.com/moveit/moveit/issues/1665)
       if (path_pos - next_discontinuity->first < EPS)
       {
         continue;

moveit_kinematics/ikfast_kinematics_plugin/README.md

@@ -7,4 +7,4 @@ Generates a IKFast kinematics plugin for MoveIt using [OpenRave](http://openrave
 
 Tested on ROS Hydro and greater with Catkin using OpenRave 0.8 with a 6dof and 7dof robot arm manipulator. Does not work with greater than 7dof.
 
-[Documentation on docs.ros.org](https://ros-planning.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#creating-the-ikfast-moveit-plugin)
+[Documentation on docs.ros.org](https://moveit.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#creating-the-ikfast-moveit-plugin)

moveit_kinematics/package.xml

@@ -14,8 +14,8 @@
   <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org</url>
-  <url type="repository">https://github.com/ros-planning/moveit2</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
 
   <author email="[email protected]">Dave Coleman</author>
   <author email="[email protected]">Ioan Sucan</author>

moveit_kinematics/test/test_ikfast_plugins.sh

@@ -11,7 +11,7 @@ sudo apt-get -qq update
 sudo apt-get -qq install python3-lxml python3-yaml
 
 # Clone moveit_resources for URDFs. They are not available before running docker.
-git clone -q --depth=1 -b ros2 https://github.com/ros-planning/moveit_resources /tmp/resources
+git clone -q --depth=1 -b ros2 https://github.com/moveit/moveit_resources /tmp/resources
 fanuc=/tmp/resources/fanuc_description/urdf/fanuc.urdf
 panda=/tmp/resources/panda_description/urdf/panda.urdf