Merge branch 'main' into moveitpy-namespace

moveit · Jul 11, 2024 · c1d3b60 · c1d3b60
2 parents 5fa7b6b + d59cffb
commit c1d3b60
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Showing 4 changed files with 12 additions and 15 deletions.
diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml
@@ -51,7 +51,7 @@ jobs:
           path: .ccache
           key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }}
       - name: inject ccache into docker
-        uses: reproducible-containers/[email protected].1
+        uses: reproducible-containers/[email protected].2
         with:
           cache-source: .ccache
           cache-target: /root/.ccache/

diff --git a/moveit_core/package.xml b/moveit_core/package.xml
@@ -41,13 +41,7 @@
   <depend>libfcl-dev</depend>
   <depend>moveit_common</depend>
   <depend>moveit_msgs</depend>
-  <!--
-  Temporarily disable octomap dependency because of
-  version conflict. We use liboctomap-dev provided
-  by libfcl-dev.
-  See https://github.com/moveit/moveit2/issues/2862
-  <depend>octomap</depend>
-  -->
+  <depend>liboctomap-dev</depend>
   <depend>octomap_msgs</depend>
   <depend>osqp_vendor</depend>
   <depend>pluginlib</depend>

diff --git a/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp b/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp
@@ -175,6 +175,15 @@ void initPlanningSceneMonitor(py::module& m)
                attached_collision_object_msg (moveit_msgs.msg.AttachedCollisionObject): The attached collision object to apply to the planning scene.
            )")
 
+      .def("new_planning_scene_message", &planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage,
+           py::arg("scene"),
+           R"(
+           Called to update the planning scene with a new message.
+
+	      Args:
+               scene (moveit_msgs.msg.PlanningScene): The new planning scene message.
+           )")
+
       .def("read_only", &moveit_py::bind_planning_scene_monitor::readOnly,
            R"(
            Returns a read-only context manager for the planning scene.

diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml
@@ -26,13 +26,7 @@
   <depend>rclcpp</depend>
   <depend>moveit_core</depend>
   <depend>moveit_msgs</depend>
-  <!--
-  Temporarily disable octomap dependency because of
-  version conflict. We use liboctomap-dev provided
-  by moveit_core->libfcl-dev.
-  See https://github.com/moveit/moveit2/issues/2862
-  <depend>octomap</depend>
-  -->
+  <depend>liboctomap-dev</depend>
   <depend version_gte="1.11.2">pluginlib</depend>
   <depend>tf2_ros</depend>
   <depend>geometric_shapes</depend>