Merge pull request #47 from marrts/fix/task_composer_reorg

Fixes based off task composer reorganization
tesseract-robotics · Jun 19, 2023 · daa1cc0 · daa1cc0
2 parents af7af68 + a01b550
commit daa1cc0
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Showing 13 changed files with 116 additions and 86 deletions.
diff --git a/.github/workflows/clang_tidy.yml b/.github/workflows/clang_tidy.yml
@@ -20,7 +20,7 @@ jobs:
       ROS_DISTRO: humble
       ROS_REPO: main
       BEFORE_INIT: './.add-gazebo-ppa'
-      UPSTREAM_WORKSPACE: 'dependencies.repos'
+      UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
       ROSDEP_SKIP_KEYS: "catkin taskflow orocos_kdl fcl gz-common5 gz-math7 gz-rendering7"
       ADDITIONAL_DEBS: "clang-tidy libgz-common5-dev libgz-math7-dev libgz-rendering7-dev"
       DOCKER_IMAGE: "ros:humble"

diff --git a/.github/workflows/focal_build.yml b/.github/workflows/focal_build.yml
@@ -20,7 +20,7 @@ jobs:
       ROS_DISTRO: foxy
       ROS_REPO: main
       BEFORE_INIT: './.add-gazebo-ppa'
-      UPSTREAM_WORKSPACE: 'dependencies.repos'
+      UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
       ROSDEP_SKIP_KEYS: "catkin taskflow fcl gz-common5 gz-math7 gz-rendering7"
       ADDITIONAL_DEBS: "libgz-common5-dev libgz-math7-dev libgz-rendering7-dev"
       DOCKER_IMAGE: "ros:foxy"

diff --git a/.github/workflows/jammy_build.yml b/.github/workflows/jammy_build.yml
@@ -20,7 +20,7 @@ jobs:
       ROS_DISTRO: humble
       ROS_REPO: main
       BEFORE_INIT: './.add-gazebo-ppa'
-      UPSTREAM_WORKSPACE: 'dependencies.repos'
+      UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
       ROSDEP_SKIP_KEYS: "catkin taskflow orocos_kdl fcl gz-common5 gz-math7 gz-rendering7"
       ADDITIONAL_DEBS: "libgz-common5-dev libgz-math7-dev libgz-rendering7-dev"
       DOCKER_IMAGE: "ros:humble"

diff --git a/.run-clang-format b/.run-clang-format
@@ -1,2 +1,2 @@
 #!/bin/bash
-find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-8 -style=file -i {} \;
+find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-10 -style=file -i {} \;
diff --git a/README.md b/README.md
@@ -2,11 +2,10 @@
 
 Platform             | CI Status
 ---------------------|:---------
-Linux (Focal)        | [![Build Status](https://github.com/ros-industrial-consortium/tesseract_ros/workflows/Focal-Build/badge.svg)](https://github.com/ros-industrial-consortium/tesseract_ros/actions)
-Linux (Bionic)       | [![Build Status](https://github.com/ros-industrial-consortium/tesseract_ros/workflows/Bionic-Build/badge.svg)](https://github.com/ros-industrial-consortium/tesseract_ros/actions)
-Linux (Unstable)     | [![Build Status](https://github.com/ros-industrial-consortium/tesseract_ros/workflows/Unstable-Build/badge.svg)](https://github.com/ros-industrial-consortium/tesseract_ros/actions)
-Lint  (Clang-Format) | [![Build Status](https://github.com/ros-industrial-consortium/tesseract_ros/workflows/Clang-Format/badge.svg)](https://github.com/ros-industrial-consortium/tesseract_ros/actions)
-Lint  (Clang Tidy)   | [![Build Status](https://github.com/ros-industrial-consortium/tesseract_ros/workflows/Clang-Tidy/badge.svg)](https://github.com/ros-industrial-consortium/tesseract_ros/actions)
+Linux (Focal)        | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Focal-Build/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
+Linux (Jammy)        | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Jammy-Build/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
+Lint  (Clang-Format) | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Clang-Format/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
+Lint  (Clang Tidy)   | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Clang-Tidy/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
 
 [![Github Issues](https://img.shields.io/github/issues/ros-industrial-consortium/tesseract_ros.svg)](http://github.com/ros-industrial-consortium/tesseract_ros/issues)
 

diff --git a/dependencies_unstable.repos b/dependencies_unstable.repos
@@ -0,0 +1,45 @@
+repositories:
+  ros_industrial_cmake_boilerplate:
+    type: git
+    url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
+    version: master
+  tesseract:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract.git
+    version: master
+  trajopt:
+    type: git
+    url: https://github.com/tesseract-robotics/trajopt.git
+    version: master
+  tesseract_planning:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_planning.git
+    version: master
+  tesseract_qt:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_qt.git
+    version: main
+  descartes_light:
+    type: git
+    url: https://github.com/swri-robotics/descartes_light.git
+    version: master
+  opw_kinematics:
+    type: git
+    url: https://github.com/Jmeyer1292/opw_kinematics.git
+    version: master
+  ifopt:
+    type: git
+    url: https://github.com/ethz-adrl/ifopt.git
+    version: master
+  taskflow:
+    type: git
+    url: https://github.com/taskflow/taskflow.git
+    version: v3.4.0
+  Qt-Advanced-Docking-System:
+    type: git
+    url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
+    version: ros
+  fcl:
+    type: git
+    url: https://github.com/flexible-collision-library/fcl.git
+    version: 0.7.0
diff --git a/dependencies_unstable.rosinstall b/dependencies_unstable.rosinstall
diff --git a/dependencies_with_ext.repos b/dependencies_with_ext.repos
@@ -0,0 +1,49 @@
+repositories:
+  ros_industrial_cmake_boilerplate:
+    type: git
+    url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
+    version: 0.4.5
+  tesseract_ext:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_ext.git
+    version: 0.17.0
+  tesseract:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract.git
+    version: 0.17.0
+  trajopt:
+    type: git
+    url: https://github.com/tesseract-robotics/trajopt.git
+    version: 0.5.2
+  tesseract_planning:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_planning.git
+    version: 0.17.0
+  tesseract_qt:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_qt.git
+    version: 0.17.0
+  descartes_light:
+    type: git
+    url: https://github.com/swri-robotics/descartes_light.git
+    version: fbb74eb
+  opw_kinematics:
+    type: git
+    url: https://github.com/Jmeyer1292/opw_kinematics.git
+    version: 0.5.0
+  ifopt:
+    type: git
+    url: https://github.com/ethz-adrl/ifopt.git
+    version: 2.1.3
+  taskflow:
+    type: git
+    url: https://github.com/taskflow/taskflow.git
+    version: v3.4.0
+  Qt-Advanced-Docking-System:
+    type: git
+    url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
+    version: ros
+  fcl:
+    type: git
+    url: https://github.com/flexible-collision-library/fcl.git
+    version: 0.7.0
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
diff --git a/tesseract_planning_server/CMakeLists.txt b/tesseract_planning_server/CMakeLists.txt
@@ -38,6 +38,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   tesseract::tesseract_motion_planners_ompl
   tesseract::tesseract_motion_planners_descartes
   tesseract::tesseract_task_composer
+  tesseract::tesseract_task_composer_planning
 
   tesseract_monitoring::tesseract_monitoring_environment
   tesseract_rosutils::tesseract_rosutils

diff --git a/tesseract_planning_server/include/tesseract_planning_server/tesseract_planning_server.h b/tesseract_planning_server/include/tesseract_planning_server/tesseract_planning_server.h
@@ -39,7 +39,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_environment/environment_monitor.h>
 #include <tesseract_environment/environment_cache.h>
-#include <tesseract_task_composer/task_composer_server.h>
+#include <tesseract_task_composer/core/task_composer_server.h>
+#include <tesseract_command_language/profile_dictionary.h>
 
 namespace tesseract_planning_server
 {

diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -54,6 +54,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_plan_profile.h>
 #endif
 
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+
 #include <tesseract_command_language/poly/instruction_poly.h>
 
 #include <tesseract_monitoring/environment_monitor.h>
@@ -206,13 +208,13 @@ void TesseractPlanningServer::onMotionPlanningCallback(
     return;
   }
 
-  tesseract_planning::TaskComposerProblem problem(goal->request.name);
+  auto problem = std::make_unique<tesseract_planning::PlanningTaskComposerProblem>(goal->request.name);
 
   try
   {
     auto ci = Serialization::fromArchiveStringXML<tesseract_planning::InstructionPoly>(goal->request.instructions)
                   .as<tesseract_planning::CompositeInstruction>();
-    problem.input_data.setData(input_key_, ci);
+    problem->input_data.setData(input_key_, ci);
   }
   catch (const std::exception& e)
   {
@@ -234,18 +236,19 @@ void TesseractPlanningServer::onMotionPlanningCallback(
   env->applyCommands(tesseract_rosutils::fromMsg(goal->request.commands));
   env->setState(env_state.joints);
 
-  problem.env = env;
-  //  process_request.save_io = goal->request.save_io;
-  problem.move_profile_remapping = tesseract_rosutils::fromMsg(goal->request.move_profile_remapping);
-  problem.composite_profile_remapping = tesseract_rosutils::fromMsg(goal->request.composite_profile_remapping);
+  problem->env = env;
+  // process_request.save_io = goal->request.save_io;
+  problem->profiles = profiles_;
+  problem->move_profile_remapping = tesseract_rosutils::fromMsg(goal->request.move_profile_remapping);
+  problem->composite_profile_remapping = tesseract_rosutils::fromMsg(goal->request.composite_profile_remapping);
 
   // Store the initial state in the response for publishing trajectories
   tesseract_scene_graph::SceneState initial_state = env->getState();
   tesseract_rosutils::toMsg(result->response.initial_state, initial_state.joints);
 
   tesseract_common::Timer timer;
   timer.start();
-  tesseract_planning::TaskComposerInput input(std::move(problem), profiles_);
+  tesseract_planning::TaskComposerInput input(std::move(problem));
   tesseract_planning::TaskComposerFuture::UPtr plan_future = planning_server_->run(input, executor_name);
   plan_future->wait();  // Wait for results
   timer.stop();

diff --git a/tesseract_rosutils/include/tesseract_rosutils/utils.h b/tesseract_rosutils/include/tesseract_rosutils/utils.h
@@ -85,7 +85,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_common/types.h>
 #include <tesseract_common/joint_state.h>
 #include <tesseract_motion_planners/core/types.h>
-#include <tesseract_task_composer/task_composer_node_info.h>
+#include <tesseract_task_composer/core/task_composer_node_info.h>
 
 namespace tesseract_rosutils
 {