Merge branch 'main' into patch-3

moveit · Jun 14, 2024 · e21c70f · e21c70f
2 parents b3b2bdf + c05b013
commit e21c70f
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diff --git a/.clang-tidy b/.clang-tidy
@@ -1,6 +1,7 @@
 ---
 Checks:          '-*,
                   performance-*,
+                  -performance-enum-size,
                   llvm-namespace-comment,
                   modernize-redundant-void-arg,
                   modernize-use-nullptr,
@@ -21,7 +22,6 @@ Checks:          '-*,
                   readability-static-definition-in-anonymous-namespace,
                   '
 HeaderFilterRegex: ''
-AnalyzeTemporaryDtors: false
 CheckOptions:
   - key:             llvm-namespace-comment.ShortNamespaceLines
     value:           '10'

diff --git a/.docker/ci-testing/Dockerfile b/.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

diff --git a/.docker/ci/Dockerfile b/.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

diff --git a/.docker/release/Dockerfile b/.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

diff --git a/.docker/source/Dockerfile b/.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

diff --git a/.docker/tutorial-source/Dockerfile b/.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

diff --git a/.github/ISSUE_TEMPLATE/first_timers_only.md b/.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.
 

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.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!"
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -18,16 +18,18 @@ jobs:
       matrix:
         env:
           - IMAGE: rolling-ci
-            CCOV: true
+            CCOV: false # Disabled: https://github.com/moveit/moveit2/issues/2866
             ROS_DISTRO: rolling
-          - IMAGE: rolling-ci-testing
+          - IMAGE: rolling-ci
             ROS_DISTRO: rolling
             IKFAST_TEST: true
             CLANG_TIDY: pedantic
           - IMAGE: humble-ci
             ROS_DISTRO: humble
           - IMAGE: humble-ci-testing
             ROS_DISTRO: humble
+          - IMAGE: jazzy-ci
+            ROS_DISTRO: jazzy
     env:
       CXXFLAGS: >-
         -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
@@ -50,7 +52,7 @@ jobs:
         -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="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+        -DCMAKE_CXX_FLAGS="-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
@@ -61,6 +63,7 @@ jobs:
         (cd $TARGET_REPO_PATH; clang-tidy --list-checks)
         # Disable clang-tidy for ikfast plugins as we cannot fix the generated code
         find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \;
+        find $BASEDIR/target_ws/build -iwholename "*_ikfast_manipulator_plugin/compile_commands.json" -exec rm {} \;
       CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
       CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
       ADDITIONAL_DEBS: lld
@@ -83,10 +86,12 @@ jobs:
           sudo rm -rf /usr/local
           df -h
       - uses: actions/checkout@v4
-      - uses: testspace-com/setup-testspace@v1
-        if: github.repository == 'ros-planning/moveit2'
-        with:
-          domain: ros-planning
+# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org
+# See: https://github.com/moveit/moveit2/issues/2852
+#       - uses: testspace-com/setup-testspace@v1
+#         if: github.repository == 'moveit/moveit2'
+#         with:
+#           domain: moveit
       - name: Get latest release date for rosdistro
         id: rosdistro_release_date
         uses: JafarAbdi/latest-rosdistro-release-date-action@main
@@ -140,10 +145,12 @@ jobs:
         name: Run industrial_ci
         uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
-      - name: Push result to Testspace
-        if: always() && (github.repository == 'ros-planning/moveit2')
-        run: |
-          testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
+# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org
+# See: https://github.com/moveit/moveit2/issues/2852
+#      - name: Push result to Testspace
+#        if: always() && (github.repository == 'moveit/moveit2')
+#        run: |
+#          testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
       - name: Upload test artifacts (on failure)
         uses: actions/upload-artifact@v4
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)

diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
@@ -19,17 +19,27 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, jazzy]
     runs-on: ubuntu-latest
     permissions:
       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 }}
             ${{ env.DH_IMAGE }}
@@ -60,58 +72,27 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
       contents: read
     env:
-      GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ 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" >> "$GITHUB_OUTPUT"
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
       - name: Login to Github Container Registry
@@ -131,27 +112,31 @@ jobs:
         uses: docker/build-push-action@v5
         with:
           file: .docker/${{ 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:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, jazzy]
     runs-on: ubuntu-latest
     permissions:
       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
diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml
@@ -56,10 +56,11 @@ jobs:
           sudo rm -rf /usr/local
           df -h
       - uses: actions/checkout@v4
-      - uses: testspace-com/setup-testspace@v1
-        if: github.repository == 'ros-planning/moveit2'
-        with:
-          domain: ros-planning
+# Testspace disabled temporarily: https://github.com/moveit/moveit2/issues/2852
+#      - uses: testspace-com/setup-testspace@v1
+#        if: github.repository == 'moveit/moveit2'
+#        with:
+#          domain: ros-planning
       - name: Get latest release date for rosdistro
         id: rosdistro_release_date
         uses: JafarAbdi/latest-rosdistro-release-date-action@main

diff --git a/.github/workflows/tutorial_docker.yaml b/.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