Add environment as const to data storage, update RICB to 0.6.2, fix d…

…ependencies for unstable
tesseract-robotics · Jul 18, 2024 · bf6a52a · bf6a52a
1 parent 3b3e37c
commit bf6a52a
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Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/dependencies.repos b/dependencies.repos
@@ -2,7 +2,7 @@ repositories:
   ros_industrial_cmake_boilerplate:
     type: git
     url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.6.0
+    version: 0.6.2
   tesseract:
     type: git
     url: https://github.com/tesseract-robotics/tesseract.git

diff --git a/dependencies_unstable.repos b/dependencies_unstable.repos
@@ -2,7 +2,7 @@ repositories:
   ros_industrial_cmake_boilerplate:
     type: git
     url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: master
+    version: 0.6.2
   tesseract:
     type: git
     url: https://github.com/tesseract-robotics/tesseract.git
@@ -22,11 +22,11 @@ repositories:
   descartes_light:
     type: git
     url: https://github.com/swri-robotics/descartes_light.git
-    version: master
+    version: 0.4.3
   opw_kinematics:
     type: git
     url: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: master
+    version: 0.5.0
   ifopt:
     type: git
     url: https://github.com/ethz-adrl/ifopt.git

diff --git a/dependencies_with_ext.repos b/dependencies_with_ext.repos
@@ -2,7 +2,7 @@ repositories:
   ros_industrial_cmake_boilerplate:
     type: git
     url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.6.0
+    version: 0.6.2
   tesseract_ext:
     type: git
     url: https://github.com/tesseract-robotics/tesseract_ext.git

diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -249,7 +249,7 @@ void TesseractPlanningServer::onMotionPlanningCallback(
   // Create solve data storage
   auto data = std::make_unique<TaskComposerDataStorage>();
   data->setData("planning_input", std::move(planning_input));
-  data->setData("environment", std::move(env));
+  data->setData("environment", std::shared_ptr<const tesseract_environment::Environment>(std::move(env)));
   data->setData("profiles", profiles_);
   auto move_profile_remapping = tesseract_rosutils::fromMsg(goal->request.move_profile_remapping);
   if (!move_profile_remapping.empty())