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Fix CI #826

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merged 6 commits into from
Dec 1, 2023
Merged

Fix CI #826

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11f5779
Add ros2 kortex to upstream repos
Abishalini Nov 30, 2023
2c7d8ff
Update to commit with planning pipeline refactor change
Abishalini Nov 30, 2023
23474fe
Add ros2_robotiq_gripper repo for source build
Abishalini Nov 30, 2023
3b9fadf
Add serial to .repos file
Abishalini Nov 30, 2023
6020ecb
Add ros2_robotiq_gripper to moveit2_tutorials.repo
Abishalini Dec 1, 2023
4cbda62
Remove dead link
Abishalini Dec 1, 2023
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15 changes: 15 additions & 0 deletions .github/upstream.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -15,3 +15,18 @@ repositories:
type: git
url: https://github.com/PickNikRobotics/rviz_visual_tools.git
version: ros2
# Remove ros2_kortex when rolling binaries are available.
ros2_kortex:
type: git
url: https://github.com/Kinovarobotics/ros2_kortex.git
version: main
# Remove ros2_robotiq_gripper when rolling binaries are available.
ros2_robotiq_gripper:
type: git
url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
version: main
# Serial is a dependency of ros2_robotiq_gripper. Remove when ros2_robotiq_gripper binaries are available.
serial:
type: git
url: https://github.com/tylerjw/serial.git
version: ros2
2 changes: 1 addition & 1 deletion doc/examples/planning_adapters/planning_adapters_tutorial.rst
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Expand Up @@ -53,7 +53,7 @@ To achieve this, follow the steps:
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter" />

#. The values of the ``planning_adapters`` is the order in which the mentioned adapters are called / invoked. Order here matters. Inside the CHOMP adapter, a :moveit_codedir:`call <moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp#L169>` to OMPL is made before invoking the CHOMP optimization solver, so CHOMP takes the initial path computed by OMPL as the starting point to further optimize it.
#. The values of the ``planning_adapters`` is the order in which the mentioned adapters are called / invoked. Order here matters. Inside the CHOMP adapter, a call to OMPL is made before invoking the CHOMP optimization solver, so CHOMP takes the initial path computed by OMPL as the starting point to further optimize it.

#. Find the line where ``<rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml"/>`` is mentioned and after this line, add the following: ::

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10 changes: 10 additions & 0 deletions moveit2_tutorials.repos
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Expand Up @@ -12,6 +12,16 @@ repositories:
type: git
url: https://github.com/Kinovarobotics/ros2_kortex.git
version: main
# Remove ros2_robotiq_gripper when rolling binaries are available.
ros2_robotiq_gripper:
type: git
url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
version: main
# Serial is a dependency of ros2_robotiq_gripper. Remove when ros2_robotiq_gripper binaries are available.
serial:
type: git
url: https://github.com/tylerjw/serial.git
version: ros2
rviz_visual_tools:
type: git
url: https://github.com/PickNikRobotics/rviz_visual_tools.git
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