diff --git a/.github/workflows/clang_tidy.yml b/.github/workflows/clang_tidy.yml index 072534c5..21cb8b9f 100644 --- 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 index b708cd40..422a2afa 100644 --- 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 index e957ca50..87fc9f11 100644 --- 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 index 47ce0c04..8509d373 100755 --- 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 index 86be14d5..cf8999cf 100644 --- 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 new file mode 100644 index 00000000..969f6328 --- /dev/null +++ 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 deleted file mode 100644 index 3380e320..00000000 --- a/dependencies_unstable.rosinstall +++ /dev/null @@ -1,32 +0,0 @@ -- git: - local-name: ros_industrial_cmake_boilerplate - uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git - version: master -- git: - local-name: tesseract - uri: https://github.com/ros-industrial-consortium/tesseract.git - version: master -- git: - local-name: trajopt - uri: https://github.com/ros-industrial-consortium/trajopt_ros.git - version: master -- git: - local-name: tesseract_planning - uri: https://github.com/ros-industrial-consortium/tesseract_planning.git - version: master -- git: - local-name: tesseract_qt - uri: https://github.com/tesseract-robotics/tesseract_qt.git - version: main -- git: - local-name: descartes_light - uri: https://github.com/swri-robotics/descartes_light.git - version: master -- git: - local-name: opw_kinematics - uri: https://github.com/Jmeyer1292/opw_kinematics.git - version: master -- git: - local-name: ifopt - uri: https://github.com/ethz-adrl/ifopt.git - version: master diff --git a/dependencies_with_ext.repos b/dependencies_with_ext.repos new file mode 100644 index 00000000..61cb61ec --- /dev/null +++ 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 deleted file mode 100644 index 7b8f69c5..00000000 --- a/dependencies_with_ext.rosinstall +++ /dev/null @@ -1,36 +0,0 @@ -- git: - local-name: ros_industrial_cmake_boilerplate - uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git - version: 0.4.5 -- git: - local-name: tesseract_ext - uri: https://github.com/tesseract-robotics/tesseract_ext.git - version: master -- git: - local-name: tesseract - uri: https://github.com/tesseract-robotics/tesseract.git - version: 0.17.0 -- git: - local-name: trajopt - uri: https://github.com/tesseract-robotics/trajopt_ros.git - version: 0.5.2 -- git: - local-name: tesseract_planning - uri: https://github.com/tesseract-robotics/tesseract_planning.git - version: 0.17.0 -- git: - local-name: tesseract_qt - uri: https://github.com/tesseract-robotics/tesseract_qt.git - version: 0.17.0 -- git: - local-name: descartes_light - uri: https://github.com/swri-robotics/descartes_light.git - version: 0.3.1 -- git: - local-name: opw_kinematics - uri: https://github.com/Jmeyer1292/opw_kinematics.git - version: 0.4.6 -- git: - local-name: ifopt - uri: https://github.com/ethz-adrl/ifopt.git - version: 2.1.3 diff --git a/tesseract_planning_server/CMakeLists.txt b/tesseract_planning_server/CMakeLists.txt index 98580788..2a4dc68b 100644 --- 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 index 086d1cef..4a4b00e5 100644 --- 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 #include -#include +#include +#include namespace tesseract_planning_server { diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp index 89702da6..cd59fcde 100644 --- 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 #endif +#include + #include #include @@ -206,13 +208,13 @@ void TesseractPlanningServer::onMotionPlanningCallback( return; } - tesseract_planning::TaskComposerProblem problem(goal->request.name); + auto problem = std::make_unique(goal->request.name); try { auto ci = Serialization::fromArchiveStringXML(goal->request.instructions) .as(); - problem.input_data.setData(input_key_, ci); + problem->input_data.setData(input_key_, ci); } catch (const std::exception& e) { @@ -234,10 +236,11 @@ 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(); @@ -245,7 +248,7 @@ void TesseractPlanningServer::onMotionPlanningCallback( 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 index 1f1543b8..3afa9995 100644 --- 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 #include #include -#include +#include namespace tesseract_rosutils {