Merge branch 'humble' into humble

moveit · Jul 11, 2024 · 763914d · 763914d
2 parents 07d6670 + 3f54256
commit 763914d
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Showing 7 changed files with 28 additions and 11 deletions.
diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
@@ -6,6 +6,8 @@ FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke [email protected]
 
 ENV TERM xterm
+# Allow non-interactive installation of ros-humble-rmw-connextdds
+ENV RTI_NC_LICENSE_ACCEPTED yes
 
 # Setup (temporary) ROS workspace
 WORKDIR /root/ws_moveit

diff --git a/.docker/release/Dockerfile b/.docker/release/Dockerfile
@@ -5,6 +5,9 @@ ARG ROS_DISTRO=rolling
 FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke [email protected]
 
+# Allow non-interactive installation of ros-humble-rmw-connextdds
+ENV RTI_NC_LICENSE_ACCEPTED yes
+
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 RUN apt-get update -q && \
     apt-get upgrade -q -y && \

diff --git a/moveit2.repos b/moveit2.repos
@@ -9,3 +9,7 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_resources.git
     version: humble
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: 0.3.7
diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
@@ -162,6 +162,7 @@ def __init__(
 
         self.__urdf_package = None
         self.__urdf_file_path = None
+        self.__urdf_xacro_args = None
         self.__srdf_file_path = None
 
         modified_urdf_path = Path("config") / (self.__robot_name + ".urdf.xacro")
@@ -172,15 +173,20 @@ def __init__(
         if setup_assistant_file.exists():
             setup_assistant_yaml = load_yaml(setup_assistant_file)
             config = setup_assistant_yaml.get("moveit_setup_assistant_config", {})
-            urdf_config = config.get("urdf", config.get("URDF"))
-            if urdf_config and self.__urdf_package is None:
-                self.__urdf_package = Path(
-                    get_package_share_directory(urdf_config["package"])
-                )
-                self.__urdf_file_path = Path(urdf_config["relative_path"])
 
-            srdf_config = config.get("srdf", config.get("SRDF"))
-            if srdf_config:
+            if urdf_config := config.get("urdf", config.get("URDF")):
+                if self.__urdf_package is None:
+                    self.__urdf_package = Path(
+                        get_package_share_directory(urdf_config["package"])
+                    )
+                    self.__urdf_file_path = Path(urdf_config["relative_path"])
+
+                if xacro_args := urdf_config.get("xacro_args"):
+                    self.__urdf_xacro_args = dict(
+                        arg.split(":=") for arg in xacro_args.split(" ") if arg
+                    )
+
+            if srdf_config := config.get("srdf", config.get("SRDF")):
                 self.__srdf_file_path = Path(srdf_config["relative_path"])
 
         if not self.__urdf_package or not self.__urdf_file_path:
@@ -224,7 +230,8 @@ def robot_description(
             try:
                 self.__moveit_configs.robot_description = {
                     self.__robot_description: load_xacro(
-                        robot_description_file_path, mappings=mappings
+                        robot_description_file_path,
+                        mappings=mappings or self.__urdf_xacro_args,
                     )
                 }
             except ParameterBuilderFileNotFoundError as e:

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh b/moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh
@@ -120,7 +120,7 @@ FROM personalrobotics/ros-openrave
 RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
     apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116 && \
     apt-get update && \
-    apt-get install -y --no-install-recommends python-pip build-essential liblapack-dev ros-indigo-collada-urdf && \
+    apt-get install -y --force-yes --no-install-recommends python-pip build-essential liblapack-dev ros-indigo-collada-urdf && \
     apt-get clean && rm -rf /var/lib/apt/lists/*
 # enforce a specific version of sympy, which is known to work with OpenRave
 RUN pip install git+https://github.com/sympy/[email protected]

diff --git a/...troller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/...troller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
@@ -145,7 +145,7 @@ class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
         do
         {
           status = result_future.wait_for(50ms);
-          if ((status == std::future_status::timeout) and ((node_->now() - start) > timeout))
+          if ((status == std::future_status::timeout) && ((node_->now() - start) > timeout))
           {
             RCLCPP_WARN(LOGGER, "waitForExecution timed out");
             return false;

diff --git a/moveit_ros/moveit_servo/src/servo_node.cpp b/moveit_ros/moveit_servo/src/servo_node.cpp
@@ -90,6 +90,7 @@ ServoNode::ServoNode(const rclcpp::NodeOptions& options)
       node_, robot_description_name, "planning_scene_monitor");
   planning_scene_monitor_->startStateMonitor(servo_parameters->joint_topic);
   planning_scene_monitor_->startSceneMonitor(servo_parameters->monitored_planning_scene_topic);
+  planning_scene_monitor_->startWorldGeometryMonitor();
   planning_scene_monitor_->setPlanningScenePublishingFrequency(25);
   planning_scene_monitor_->getStateMonitor()->enableCopyDynamics(true);
   planning_scene_monitor_->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,