Merge branch 'main' into moveitpy-new-planning-scene-message

.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/

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>

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>