Remove LMA kinematics plugin (#2595)

moveit · Dec 12, 2023 · a787972 · a787972
1 parent 754d919
commit a787972
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Showing 20 changed files with 1 addition and 1,239 deletions.
diff --git a/.dockerignore b/.dockerignore
@@ -17,11 +17,9 @@
 !moveit_planners/ompl/package.xml
 !moveit_planners/chomp/chomp_motion_planner/package.xml
 !moveit_planners/chomp/chomp_interface/package.xml
-!moveit_planners/chomp/chomp_optimizer_adapter/package.xml
 !moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
 !moveit_planners/pilz_industrial_motion_planner/package.xml
 !moveit_planners/moveit_planners/package.xml
-!moveit_planners/trajopt/package.xml
 !moveit_runtime/package.xml
 !moveit/package.xml
 !moveit_ros/warehouse/package.xml

diff --git a/.github/CODEOWNERS.disabled b/.github/CODEOWNERS.disabled
@@ -91,7 +91,6 @@
 
 /moveit_planners/ompl/                                      @BryceStevenWilley @mamoll
 /moveit_planners/chomp/chomp_interface/                     @raghavendersahdev @knorth55 @bmagyar
-/moveit_planners/chomp/chomp_optimizer_adapter/             @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/chomp/chomp_motion_planner/                @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/pilz_industrial_motion_planner             @jschleicher @ct2034
 /moveit_planners/pilz_industrial_motion_planner_testutils/  @jschleicher @ct2034
diff --git a/MIGRATION.md b/MIGRATION.md
@@ -3,6 +3,7 @@
 API changes in MoveIt releases
 
 ## ROS Rolling
+- [12/2023] LMA kinematics plugin is removed to remove the maintenance work because better alternatives exist like KDL or TracIK
 - [10/2023] The planning pipeline now has a vector of planner plugins rather than a single one. Please update the planner plugin parameter e.g. like this:
 ```diff
 - planning_plugin: ompl_interface/OMPLPlanner

diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
@@ -25,7 +25,6 @@ include(ConfigExtras.cmake)
 
 set(THIS_PACKAGE_INCLUDE_DIRS
   kdl_kinematics_plugin/include
-  lma_kinematics_plugin/include
   srv_kinematics_plugin/include
   cached_ik_kinematics_plugin/include
 )
@@ -36,8 +35,6 @@ set(THIS_PACKAGE_LIBRARIES
   moveit_cached_ik_kinematics_plugin
   kdl_kinematics_parameters
   moveit_kdl_kinematics_plugin
-  lma_kinematics_parameters
-  moveit_lma_kinematics_plugin
   srv_kinematics_parameters
   moveit_srv_kinematics_plugin
 )
@@ -58,7 +55,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 )
 
 pluginlib_export_plugin_description_file(moveit_core kdl_kinematics_plugin_description.xml)
-pluginlib_export_plugin_description_file(moveit_core lma_kinematics_plugin_description.xml)
 pluginlib_export_plugin_description_file(moveit_core srv_kinematics_plugin_description.xml)
 pluginlib_export_plugin_description_file(moveit_core cached_ik_kinematics_plugin_description.xml)
 
@@ -67,7 +63,6 @@ include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
 add_subdirectory(cached_ik_kinematics_plugin)
 add_subdirectory(ikfast_kinematics_plugin)
 add_subdirectory(kdl_kinematics_plugin)
-add_subdirectory(lma_kinematics_plugin)
 add_subdirectory(srv_kinematics_plugin)
 add_subdirectory(test)
 

diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/src/cached_ik_kinematics_plugin.cpp b/moveit_kinematics/cached_ik_kinematics_plugin/src/cached_ik_kinematics_plugin.cpp
@@ -36,19 +36,13 @@
 
 #include <moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h>
 #include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
-// compilation error: KDL and LMA kinematics plugins declare same types
-//#include <moveit/lma_kinematics_plugin/lma_kinematics_plugin.h>
 #include <moveit/srv_kinematics_plugin/srv_kinematics_plugin.h>
 
 #include <pluginlib/class_list_macros.hpp>
 // register CachedIKKinematicsPlugin<KDLKinematicsPlugin> as a KinematicsBase implementation
 PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<kdl_kinematics_plugin::KDLKinematicsPlugin>,
                        kinematics::KinematicsBase);
 
-// register CachedIKKinematicsPlugin<SrvKinematicsPlugin> as a KinematicsBase implementation
-// PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<lma_kinematics_plugin::LMAKinematicsPlugin>,
-// kinematics::KinematicsBase);
-
 // register CachedIKKinematicsPlugin<SrvKinematicsPlugin> as a KinematicsBase implementation
 PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<srv_kinematics_plugin::SrvKinematicsPlugin>,
                        kinematics::KinematicsBase);

diff --git a/moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt
diff --git a/...matics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h b/...matics/lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/lma_kinematics_plugin.h
diff --git a/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_parameters.yaml b/moveit_kinematics/lma_kinematics_plugin/src/lma_kinematics_parameters.yaml