Ompl constrained orientation

.ci.prepare_codecov

@@ -0,0 +1,21 @@
+#!/bin/bash
+pushd $BASEDIR
+
+BLUE='\033[0;34m'
+NOCOLOR='\033[0m'
+
+apt-get install -qq lcov
+
+echo -e "${BLUE}Capture coverage info${NOCOLOR}"
+lcov --capture --directory target_ws --output-file coverage.info
+
+echo -e "${BLUE}Extract repository files${NOCOLOR}"
+lcov --extract coverage.info "$BASEDIR/target_ws/src/$TARGET_REPO_NAME/*" --output-file coverage.info
+
+echo -e "${BLUE}Filter out test files${NOCOLOR}"
+lcov --remove coverage.info '*/test/*' --output-file coverage.info
+
+echo -e "${BLUE}Output coverage data for debugging${NOCOLOR}"
+lcov --list coverage.info
+
+popd

.docker/ci-shadow-fixed/Dockerfile

@@ -1,7 +1,7 @@
-# moveit/moveit:master-ci-shadow-fixed
+# moveit/moveit:noetic-ci-shadow-fixed
 # Sets up a base image to use for running Continuous Integration on Travis
 
-FROM moveit/moveit:master-ci
+FROM moveit/moveit:noetic-ci
 MAINTAINER Dave Coleman [email protected]
 
 # Switch to ros-shadow-fixed

.docker/ci/Dockerfile

@@ -1,7 +1,7 @@
-# moveit/moveit:master-ci
+# moveit/moveit:noetic-ci
 # Sets up a base image to use for running Continuous Integration on Travis
 
-FROM ros:melodic-ros-base
+FROM ros:noetic-ros-base
 MAINTAINER Dave Coleman [email protected]
 
 ENV TERM xterm
@@ -12,35 +12,28 @@ WORKDIR /root/ws_moveit
 # 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 \
-    mkdir src && \
-    cd src && \
-    #
-    # Download moveit source, so that we can get necessary dependencies
-    wstool init --shallow . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && \
-    #
     # Update apt package list as previous containers clear the cache
     apt-get -qq update && \
     apt-get -qq dist-upgrade && \
     #
     # Install some base dependencies
-    apt-get -qq install -y \
-        # Some source builds require a package.xml be downloaded via wget from an external location
-        wget \
-        # Required for rosdep command
-        sudo \
+    apt-get -qq install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo \
         # Preferred build tools
-        python-catkin-tools \
+        python3-catkin-tools python3-osrf-pycommon \
         clang clang-format-10 clang-tidy clang-tools \
         ccache && \
     #
+    # Download MoveIt source, so that we can fetch all necessary dependencies
+    wstool init --shallow src https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
+    #
     # Download all dependencies of MoveIt
     rosdep update && \
-    rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
-    #
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
     # Remove the source code from this container
-    # TODO: in the future we may want to keep this here for further optimization of later containers
-    cd .. && \
-    rm -rf src/ && \
+    rm -rf src && \
     #
     # Clear apt-cache to reduce image size
     rm -rf /var/lib/apt/lists/*

.docker/release/Dockerfile

@@ -1,7 +1,7 @@
 # moveit/moveit:melodic-release
 # Full debian-based install of MoveIt using apt-get
 
-FROM ros:melodic-ros-base
+FROM ros:noetic-ros-base
 MAINTAINER Dave Coleman [email protected]
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size

.docker/source/Dockerfile

@@ -1,7 +1,7 @@
-# moveit/moveit:master-source
+# moveit/moveit:noetic-source
 # Downloads the moveit source code and install remaining debian dependencies
 
-FROM moveit/moveit:master-ci-shadow-fixed
+FROM moveit/moveit:noetic-ci-shadow-fixed
 MAINTAINER Dave Coleman [email protected]
 
 ENV ROS_UNDERLAY /root/ws_moveit/install
@@ -11,7 +11,7 @@ WORKDIR $ROS_UNDERLAY/../src
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
     # Download moveit source so that we can get necessary dependencies
-    wstool init . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && \
+    wstool init . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
     #
     # Update apt package list as cache is cleared in previous container
     # Usually upgrading involves a few packages only (if container builds became out-of-sync)
@@ -24,7 +24,10 @@ RUN \
 
 ENV PYTHONIOENCODING UTF-8
 RUN cd .. && \
-    catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON && \
     # Status rate is limited so that just enough info is shown to keep Docker from timing out,
     # but not too much such that the Docker log gets too long (another form of timeout)
     catkin build --limit-status-rate 0.001 --no-notify
+
+# Environment variable used in instructions on moveit.ros.org website for running clang-tidy
+ENV CATKIN_WS /root/ws_moveit

.github/CODEOWNERS

@@ -32,10 +32,10 @@
 
 # FOLDER-SPECIFIC REVIEWERS:
 
-/moveit_plugins/moveit_ros_control_interface/	            @ipa-mdl @bmagyar
-/moveit_plugins/moveit_fake_controller_manager/	            @v4hn @rhaschke
-/moveit_plugins/moveit_simple_controller_manager/	    @mikeferguson @v4hn
-/moveit_plugins/moveit_controller_manager_example/	    @v4hn
+/moveit_plugins/moveit_ros_control_interface/               @ipa-mdl @bmagyar
+/moveit_plugins/moveit_fake_controller_manager/             @v4hn @rhaschke
+/moveit_plugins/moveit_simple_controller_manager/           @mikeferguson @v4hn
+/moveit_plugins/moveit_controller_manager_example/          @v4hn
 
 /moveit_core/background_processing/                         @tylerjw
 /moveit_core/backtrace/                                     @tylerjw
@@ -51,12 +51,12 @@
 /moveit_core/kinematics_base/                               @rhaschke @mlautman
 /moveit_core/kinematics_metrics/                            @gavanderhoorn
 /moveit_core/macros/                                        @tylerjw
-/moveit_core/planning_interface/                            @rhaschke
+/moveit_core/planning_interface/                            @rhaschke @felixvd
 /moveit_core/planning_request_adapter/                      @rhaschke
-/moveit_core/planning_scene/                                @rhaschke
+/moveit_core/planning_scene/                                @rhaschke @felixvd
 /moveit_core/profiler/                                      @tylerjw
 /moveit_core/robot_model/                                   @tylerjw
-/moveit_core/robot_state/                                   @rhaschke @mlautman
+/moveit_core/robot_state/                                   @rhaschke @mlautman @felixvd
 /moveit_core/robot_trajectory/                              @mlautman
 /moveit_core/sensor_manager/                                @mlautman
 /moveit_core/trajectory_processing/                         @mlautman
@@ -66,20 +66,20 @@
 
 /moveit_commander/                                          @rhaschke @willcbaker
 
-/moveit/	                                            @130s
+/moveit/                                                    @130s
 
-/moveit_kinematics/	                                    @rhaschke @gavanderhoorn @jrgnicho
+/moveit_kinematics/                                         @rhaschke @gavanderhoorn @jrgnicho
 
-/moveit_experimental/	                                    @AndyZe
+/moveit_experimental/                                       @AndyZe
 
-/moveit_ros/perception/	                                    @jliukkonen @RoboticsYY
-/moveit_ros/manipulation/	                            @v4hn @felixvd
-/moveit_ros/benchmarks/	                                    @henningkayser @MohmadAyman
-/moveit_ros/planning_interface/	                            @mintar @rhaschke
-/moveit_ros/robot_interaction/	                            @mikeferguson @rhaschke
-/moveit_ros/warehouse/	                                    @mikeferguson @dg-shadow
-/moveit_ros/move_group/	                                    @rhaschke @IanTheEngineer
-/moveit_ros/visualization/	                            @rhaschke @tylerjw @RoboticsYY
+/moveit_ros/perception/                                     @jliukkonen @RoboticsYY
+/moveit_ros/manipulation/                                   @v4hn @felixvd
+/moveit_ros/benchmarks/                                     @henningkayser @MohmadAyman
+/moveit_ros/planning_interface/                             @mintar @rhaschke @felixvd
+/moveit_ros/robot_interaction/                              @mikeferguson @rhaschke
+/moveit_ros/warehouse/                                      @mikeferguson @dg-shadow
+/moveit_ros/move_group/                                     @rhaschke @IanTheEngineer
+/moveit_ros/visualization/                                  @rhaschke @tylerjw @RoboticsYY @felixvd
 
 /moveit_ros/planning/collision_plugin_loader/               @j-petit
 /moveit_ros/planning/constraint_sampler_manager_loader/     @nbbrooks
@@ -93,10 +93,12 @@
 /moveit_ros/planning/robot_model_loader/                    @nbbrooks
 /moveit_ros/planning/trajectory_execution_manager/          @rhaschke
 
-/moveit_setup_assistant/	                            @RoboticsYY @rhaschke @MohmadAyman
+/moveit_setup_assistant/                                    @RoboticsYY @rhaschke @MohmadAyman
 
-/moveit_planners/ompl/	                                    @BryceStevenWilley @mamoll
+/moveit_planners/ompl/                                      @BryceStevenWilley @mamoll
 /moveit_planners/chomp/chomp_interface/                     @raghavendersahdev @knorth55 @bmagyar
-/moveit_planners/chomp/chomp_optimizer_adapter/	            @raghavendersahdev @knorth55 @bmagyar
-/moveit_planners/chomp/chomp_motion_planner/	            @raghavendersahdev @knorth55 @bmagyar
+/moveit_planners/chomp/chomp_optimizer_adapter/             @raghavendersahdev @knorth55 @bmagyar
+/moveit_planners/chomp/chomp_motion_planner/                @raghavendersahdev @knorth55 @bmagyar
 /moveit_planners/trajopt                                    @ommmid @mamoll
+/moveit_planners/pilz_industrial_motion_planner             @jschleicher @ct2034
+/moveit_planners/pilz_industrial_motion_planner_testutils/  @jschleicher @ct2034

.github/ISSUE_TEMPLATE/bug_report.md

@@ -12,7 +12,7 @@ assignees: ''
 Overview of your issue here.
 
 ### Your environment
-* ROS Distro: [Kinetic|Melodic]
+* ROS Distro: [Kinetic|Melodic|Noetic]
 * OS Version: e.g. Ubuntu 18.04
 * Source or Binary build?
 * If binary, which release version?

.github/ISSUE_TEMPLATE/first_timer_only.md

@@ -0,0 +1,67 @@
+---
+name: First Timer Only Issue
+about: Create an issue to welcome a new contributor into the community.
+title: ''
+labels: first-timer-only
+assignees: ''
+
+---
+
+## Background
+
+Overview of your issue here.
+
+## Instructions
+Hi, this is a `first-timer-only` issue. This means we've worked to make it more legible to people who either **haven't contributed to our codebase before, or even folks who haven't contributed to open source before**.
+
+We're interested in helping you take the first step, and can answer questions and help you out along the way. Note that we're especially interested in contributions from underrepresented groups!
+
+We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝
+
+If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/ros-planning/moveit/labels/bug) issues. Thanks!
+
+### 🤔 What you will need to know.
+
+Nothing. This issue is meant to welcome you to Open Source :) We are happy to walk you through the process.
+
+### 📋 Step by Step
+
+- [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
+
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://moveit.ros.org/install/source/)
+
+- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ws_moveit/src/moveit`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `moveit` folder before cloning your own fork)
+
+- [ ] 📝 **Update** the file(s) `$FILENAME`by applying the change shown in the diff below.
+
+```diff
+$DIFF
+```
+
+- [ ] 🤖 **Apply `clang-format-10`** auto formatting, [following these instructions](https://moveit.ros.org//documentation/contributing/code/?#clang-format-auto-code-formatting)
+
+- [ ] 💾 **Commit and Push** your changes
+
+- [ ] 🔀 **Start a Pull Request** to request to merge your code into `master`. There are two ways that you can start a pull request:
+1. If you are not familiar with GitHub or how to create a pull request, [here is a guide you can follow](https://guides.github.com/activities/hello-world/) on how GitHub works.
+2. If you are familiar with the terminal or would like to learn to use it, [here is a great tutorial](https://egghead.io/series/how-to-contribute-to-an-open-source-project-on-github) on how to send a pull request using the terminal.
+
+- [ ] 🏁 **Done** Ask in comments for a review :)
+
+### Is someone else already working on this?
+
+🔗- We encourage contributors to link to the original issue in their pull request so all users can easily see if someone's already started on it.
+
+👥- **If someone seems stuck, offer them some help!**
+
+### 🤔❓ Questions?
+
+Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
+Furthermore, you find helpful resources here:
+* [MoveIt FAQ](https://moveit.ros.org/documentation/faqs/)
+* [MoveIt Tutorials](https://ros-planning.github.io/moveit_tutorials/)
+* [MoveIt contribution guide](https://moveit.ros.org/documentation/contributing/)
+* [ROS Tutorials](https://wiki.ros.org/ROS/Tutorials)
+* [ROS Answers](https://answers.ros.org/questions/)
+
+**Good luck with your first issue!**

.github/workflows/format.yml

@@ -0,0 +1,20 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - name: Install clang-format-10
+      run: sudo apt-get install clang-format-10
+    - uses: pre-commit/[email protected]