Update clang version 14->15

.docker/ci-testing/Dockerfile

@@ -29,7 +29,7 @@ RUN \
         # Some basic requirements
         wget git sudo curl \
         # Preferred build tools
-        clang clang-format-14 clang-tidy clang-tools \
+        clang clang-format-15 clang-tidy clang-tools \
         ccache \
         ros-"$ROS_DISTRO"-ros-base && \
     #

.docker/ci/Dockerfile

@@ -3,9 +3,9 @@
 
 ARG ROS_DISTRO=rolling
 FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke [email protected]
 
 ENV TERM xterm
 
 # Setup (temporary) ROS workspace
 WORKDIR /root/ws_moveit
@@ -15,7 +15,7 @@
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
     # Update apt package list as previous containers clear the cache
     apt-get -q update && \
     apt-get -q -y upgrade --with-new-pkgs && \
@@ -25,7 +25,7 @@
         # Some basic requirements
         wget git sudo curl \
         # Preferred build tools
-        clang clang-format-14 clang-tidy clang-tools \
+        clang clang-format-15 clang-tidy clang-tools \
         ccache && \
     #
     # Globally disable git security

.github/workflows/format.yaml

@@ -20,8 +20,8 @@ jobs:
     - uses: actions/setup-python@v5
       with:
         python-version: 3.x
-    - name: Install clang-format-14
-      run: sudo apt-get install clang-format-14
+    - name: Install clang-format-15
+      run: sudo apt-get install clang-format-15
     - uses: pre-commit/[email protected]
       id: precommit
     - name: Upload pre-commit changes

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -33,7 +33,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 23.10.0
+    rev: 24.10.0
     hooks:
       - id: black
 
@@ -42,7 +42,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-14
+        entry: clang-format-15
         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']

moveit/scripts/create_readme_table.py

@@ -62,9 +62,9 @@ def define_urls(target, params):
         )
         params["url"] = "{base_url}/view/{R}src_u{U}/job/{job}".format(**params)
     elif target == "bin":
-        params[
-            "job"
-        ] = "{R}bin_u{U}64__{package}__ubuntu_{ubuntu}_amd64__binary".format(**params)
+        params["job"] = (
+            "{R}bin_u{U}64__{package}__ubuntu_{ubuntu}_amd64__binary".format(**params)
+        )
         params["url"] = "{base_url}/view/{R}bin_u{U}64/job/{job}".format(**params)
 
 

moveit_configs_utils/moveit_configs_utils/substitutions/xacro.py

@@ -67,8 +67,8 @@ def perform(self, context: LaunchContext) -> Text:
         for key, value in self.__mappings.items():
             normalized_key = normalize_to_list_of_substitutions(key)
             normalized_value = normalize_to_list_of_substitutions(value)
-            expanded_mappings[
-                perform_substitutions(context, normalized_key)
-            ] = perform_substitutions(context, normalized_value)
+            expanded_mappings[perform_substitutions(context, normalized_key)] = (
+                perform_substitutions(context, normalized_value)
+            )
 
         return load_xacro(Path(expanded_file_path), mappings=expanded_mappings)

moveit_ros/perception/point_containment_filter/src/shape_mask.cpp

@@ -178,7 +178,7 @@ void point_containment_filter::ShapeMask::maskContainment(const sensor_msgs::msg
 
     // Cloud iterators are not incremented in the for loop, because of the pragma
     // Comment out below parallelization as it can result in very high CPU consumption
-    //#pragma omp parallel for schedule(dynamic)
+    // #pragma omp parallel for schedule(dynamic)
     for (int i = 0; i < static_cast<int>(np); ++i)
     {
       Eigen::Vector3d pt = Eigen::Vector3d(*(iter_x + i), *(iter_y + i), *(iter_z + i));

moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h

@@ -39,7 +39,6 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <moveit/macros/class_forward.h>
 #include <moveit/robot_interaction/locked_robot_state.h>
-//#include <moveit/robot_interaction/robot_interaction.h>
 #include <visualization_msgs/msg/interactive_marker_feedback.hpp>
 #include <interactive_markers/menu_handler.hpp>
 #include <tf2_ros/buffer.h>