diff --git a/.clang-tidy b/.clang-tidy index 83fc26e052..6e9e400699 100644 --- a/.clang-tidy +++ b/.clang-tidy @@ -1,6 +1,7 @@ --- Checks: '-*, performance-*, + -performance-enum-size, llvm-namespace-comment, modernize-redundant-void-arg, modernize-use-nullptr, @@ -21,7 +22,6 @@ Checks: '-*, readability-static-definition-in-anonymous-namespace, ' HeaderFilterRegex: '' -AnalyzeTemporaryDtors: false CheckOptions: - key: llvm-namespace-comment.ShortNamespaceLines value: '10' diff --git a/.docker/ci-testing/Dockerfile b/.docker/ci-testing/Dockerfile index 45c18e07d6..99e89cba4b 100644 --- a/.docker/ci-testing/Dockerfile +++ b/.docker/ci-testing/Dockerfile @@ -1,4 +1,4 @@ -# ghcr.io/ros-planning/moveit2:${OUR_ROS_DISTRO}-ci-testing +# ghcr.io/moveit/moveit2:${OUR_ROS_DISTRO}-ci-testing # CI image using the ROS testing repository FROM osrf/ros2:testing diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile index c6aa5ee42c..827bae17d9 100644 --- a/.docker/ci/Dockerfile +++ b/.docker/ci/Dockerfile @@ -1,4 +1,4 @@ -# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci +# ghcr.io/moveit/moveit2:${ROS_DISTRO}-ci # ROS base image augmented with all MoveIt dependencies to use for CI ARG ROS_DISTRO=rolling diff --git a/.docker/release/Dockerfile b/.docker/release/Dockerfile index 8a1b6992c4..0c02814cbe 100644 --- a/.docker/release/Dockerfile +++ b/.docker/release/Dockerfile @@ -1,4 +1,4 @@ -# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-release +# ghcr.io/moveit/moveit2:${ROS_DISTRO}-release # Full debian-based install of MoveIt using apt-get ARG ROS_DISTRO=rolling diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile index 1c6a0dce38..bf2c845071 100644 --- a/.docker/source/Dockerfile +++ b/.docker/source/Dockerfile @@ -1,10 +1,10 @@ # syntax = docker/dockerfile:1.3 -# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-source +# ghcr.io/moveit/moveit2:${ROS_DISTRO}-source # Downloads the moveit source code and install remaining debian dependencies ARG ROS_DISTRO=rolling -FROM moveit/moveit2:${ROS_DISTRO}-ci-testing +FROM moveit/moveit2:${ROS_DISTRO}-ci LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de # Export ROS_UNDERLAY for downstream docker containers diff --git a/.docker/tutorial-source/Dockerfile b/.docker/tutorial-source/Dockerfile index 325949b2ac..e4f875e91b 100644 --- a/.docker/tutorial-source/Dockerfile +++ b/.docker/tutorial-source/Dockerfile @@ -1,6 +1,6 @@ # syntax = docker/dockerfile:1.3 -# ghcr.io/ros-planning/moveit2:main-${ROS_DISTRO}-tutorial-source +# ghcr.io/moveit/moveit2:main-${ROS_DISTRO}-tutorial-source # Source build of the repos file from the tutorail site ARG ROS_DISTRO=rolling @@ -20,7 +20,7 @@ RUN --mount=type=cache,target=/root/.ccache/,sharing=locked \ # Enable ccache PATH=/usr/lib/ccache:$PATH && \ # Checkout the tutorial repo - git clone https://github.com/ros-planning/moveit2_tutorials src/moveit2_tutorials && \ + git clone https://github.com/moveit/moveit2_tutorials src/moveit2_tutorials && \ # Fetch required upstream sources for building vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos && \ # Source ROS install diff --git a/.github/ISSUE_TEMPLATE/first_timers_only.md b/.github/ISSUE_TEMPLATE/first_timers_only.md index 10f1b1acac..ecd89f9455 100644 --- a/.github/ISSUE_TEMPLATE/first_timers_only.md +++ b/.github/ISSUE_TEMPLATE/first_timers_only.md @@ -18,7 +18,7 @@ We're interested in helping you take the first step, and can answer questions an 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/moveit2/labels/bug) issues. Thanks! +If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/moveit/moveit2/labels/bug) issues. Thanks! ### 🤔 What you will need to know. diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 65a7329b72..e073217871 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -5,9 +5,9 @@ Please explain the changes you made, including a reference to the related issue ### Checklist - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code) - [ ] Extend the tutorials / documentation [reference](http://moveit.ros.org/documentation/contributing/) -- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/ros-planning/moveit2/blob/main/MIGRATION.md) notes +- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/moveit/moveit2/blob/main/MIGRATION.md) notes - [ ] Create tests, which fail without this PR [reference](https://moveit.picknik.ai/humble/doc/examples/tests/tests_tutorial.html) - [ ] Include a screenshot if changing a GUI -- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/ros-planning/moveit2/pulls) to support the maintainers +- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/moveit/moveit2/pulls) to support the maintainers [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!" diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 2d255edde8..3306fd0063 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -18,9 +18,9 @@ jobs: matrix: env: - IMAGE: rolling-ci - CCOV: true + CCOV: false # Disabled: https://github.com/moveit/moveit2/issues/2866 ROS_DISTRO: rolling - - IMAGE: rolling-ci-testing + - IMAGE: rolling-ci ROS_DISTRO: rolling IKFAST_TEST: true CLANG_TIDY: pedantic @@ -28,6 +28,8 @@ jobs: ROS_DISTRO: humble - IMAGE: humble-ci-testing ROS_DISTRO: humble + - IMAGE: jazzy-ci + ROS_DISTRO: jazzy env: CXXFLAGS: >- -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls @@ -50,7 +52,7 @@ jobs: -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}} - -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}" + -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer' || ''}}" UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''" DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra" CCACHE_DIR: ${{ github.workspace }}/.ccache @@ -61,6 +63,7 @@ jobs: (cd $TARGET_REPO_PATH; clang-tidy --list-checks) # Disable clang-tidy for ikfast plugins as we cannot fix the generated code find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \; + find $BASEDIR/target_ws/build -iwholename "*_ikfast_manipulator_plugin/compile_commands.json" -exec rm {} \; CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} ADDITIONAL_DEBS: lld @@ -83,10 +86,12 @@ jobs: sudo rm -rf /usr/local df -h - uses: actions/checkout@v4 - - uses: testspace-com/setup-testspace@v1 - if: github.repository == 'ros-planning/moveit2' - with: - domain: ros-planning +# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org +# See: https://github.com/moveit/moveit2/issues/2852 +# - uses: testspace-com/setup-testspace@v1 +# if: github.repository == 'moveit/moveit2' +# with: +# domain: moveit - name: Get latest release date for rosdistro id: rosdistro_release_date uses: JafarAbdi/latest-rosdistro-release-date-action@main @@ -140,10 +145,12 @@ jobs: name: Run industrial_ci uses: ros-industrial/industrial_ci@master env: ${{ matrix.env }} - - name: Push result to Testspace - if: always() && (github.repository == 'ros-planning/moveit2') - run: | - testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml" +# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org +# See: https://github.com/moveit/moveit2/issues/2852 +# - name: Push result to Testspace +# if: always() && (github.repository == 'moveit/moveit2') +# run: | +# testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml" - name: Upload test artifacts (on failure) uses: actions/upload-artifact@v4 if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index f1f0090512..f597653f9d 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -19,17 +19,27 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling] + ROS_DISTRO: [rolling, jazzy] runs-on: ubuntu-latest permissions: packages: write contents: read env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} + GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} + PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} steps: + - uses: rhaschke/docker-run-action@v5 + name: Check for apt updates + continue-on-error: true + id: apt + with: + image: ${{ env.IMAGE }} + run: | + apt-get update + have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true) + echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT" - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 - name: Login to Github Container Registry @@ -51,7 +61,9 @@ jobs: file: .docker/${{ github.job }}/Dockerfile build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} push: ${{ env.PUSH }} - no-cache: true + no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }} + cache-from: type=registry,ref=${{ env.GH_IMAGE }} + cache-to: type=inline tags: | ${{ env.GH_IMAGE }} ${{ env.DH_IMAGE }} @@ -60,58 +72,27 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling] + ROS_DISTRO: [rolling, jazzy] runs-on: ubuntu-latest permissions: packages: write contents: read env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} + GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} + PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} steps: - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v3 - - name: Login to Github Container Registry - if: env.PUSH == 'true' - uses: docker/login-action@v3 + - uses: rhaschke/docker-run-action@v5 + name: Check for apt updates + continue-on-error: true + id: apt with: - registry: ghcr.io - username: ${{ github.repository_owner }} - password: ${{ secrets.GITHUB_TOKEN }} - - name: Login to DockerHub - if: env.PUSH == 'true' - uses: docker/login-action@v3 - with: - username: ${{ secrets.DOCKERHUB_USERNAME }} - password: ${{ secrets.DOCKERHUB_TOKEN }} - - name: Build and Push - uses: docker/build-push-action@v5 - with: - file: .docker/${{ github.job }}/Dockerfile - build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} - push: ${{ env.PUSH }} - no-cache: true - tags: | - ${{ env.GH_IMAGE }} - ${{ env.DH_IMAGE }} - - ci-testing: - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [rolling] - runs-on: ubuntu-latest - permissions: - packages: write - contents: read - env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} - - steps: + image: ${{ env.IMAGE }} + run: | + apt-get update + have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true) + echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT" - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 - name: Login to Github Container Registry @@ -131,27 +112,31 @@ jobs: uses: docker/build-push-action@v5 with: file: .docker/${{ github.job }}/Dockerfile - build-args: OUR_ROS_DISTRO=${{ matrix.ROS_DISTRO }} + build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} push: ${{ env.PUSH }} - no-cache: true + no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }} + cache-from: type=registry,ref=${{ env.GH_IMAGE }} + cache-to: type=inline tags: | ${{ env.GH_IMAGE }} + ${{ env.GH_IMAGE }}-testing ${{ env.DH_IMAGE }} + ${{ env.DH_IMAGE }}-testing source: - needs: ci-testing + needs: ci strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling] + ROS_DISTRO: [rolling, jazzy] runs-on: ubuntu-latest permissions: packages: write contents: read env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} + GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} + PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} steps: - uses: actions/checkout@v4 @@ -179,7 +164,8 @@ jobs: file: .docker/${{ github.job }}/Dockerfile build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} push: ${{ env.PUSH }} - no-cache: true + cache-from: type=registry,ref=${{ env.GH_IMAGE }} + cache-to: type=inline tags: | ${{ env.GH_IMAGE }} ${{ env.DH_IMAGE }} @@ -191,7 +177,7 @@ jobs: - source steps: - name: Delete Untagged Images - if: (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') + if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') uses: actions/github-script@v7 with: github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }} @@ -207,6 +193,6 @@ jobs: } } env: - OWNER: ros-planning + OWNER: moveit PACKAGE_NAME: moveit2 PER_PAGE: 100 diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml index 99e4e889f3..083d6c07ca 100644 --- a/.github/workflows/sonar.yaml +++ b/.github/workflows/sonar.yaml @@ -56,10 +56,11 @@ jobs: sudo rm -rf /usr/local df -h - uses: actions/checkout@v4 - - uses: testspace-com/setup-testspace@v1 - if: github.repository == 'ros-planning/moveit2' - with: - domain: ros-planning +# Testspace disabled temporarily: https://github.com/moveit/moveit2/issues/2852 +# - uses: testspace-com/setup-testspace@v1 +# if: github.repository == 'moveit/moveit2' +# with: +# domain: ros-planning - name: Get latest release date for rosdistro id: rosdistro_release_date uses: JafarAbdi/latest-rosdistro-release-date-action@main diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml index 095f6b65c7..f29b0bf018 100644 --- a/.github/workflows/tutorial_docker.yaml +++ b/.github/workflows/tutorial_docker.yaml @@ -22,9 +22,9 @@ jobs: packages: write contents: read env: - GH_IMAGE: ghcr.io/ros-planning/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} + GH_IMAGE: ghcr.io/moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} DH_IMAGE: moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} - PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} + PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} steps: - uses: actions/checkout@v4 @@ -74,7 +74,7 @@ jobs: - tutorial-source steps: - name: Delete Untagged Images - if: (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') + if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') uses: actions/github-script@v7 with: github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }} @@ -90,6 +90,6 @@ jobs: } } env: - OWNER: ros-planning + OWNER: moveit PACKAGE_NAME: moveit2 PER_PAGE: 100 diff --git a/README.md b/README.md index e6236e2583..fa3d75cc09 100644 --- a/README.md +++ b/README.md @@ -1,13 +1,13 @@ MoveIt Logo -The [MoveIt Motion Planning Framework for ROS 2](http://moveit.ros.org). For the ROS 1 repository see [MoveIt 1](https://github.com/ros-planning/moveit). For the commercially supported version see [MoveIt Pro](http://picknik.ai/pro). +The [MoveIt Motion Planning Framework for ROS 2](http://moveit.ros.org). For the ROS 1 repository see [MoveIt 1](https://github.com/moveit/moveit). For the commercially supported version see [MoveIt Pro](http://picknik.ai/pro). *Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.* ## Continuous Integration Status -[![Formatting (pre-commit)](https://github.com/ros-planning/moveit2/actions/workflows/format.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2/actions/workflows/format.yaml?query=branch%3Amain) -[![CI (Rolling and Humble)](https://github.com/ros-planning/moveit2/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2/actions/workflows/ci.yaml?query=branch%3Amain) +[![Formatting (pre-commit)](https://github.com/moveit/moveit2/actions/workflows/format.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit2/actions/workflows/format.yaml?query=branch%3Amain) +[![CI (Rolling and Humble)](https://github.com/moveit/moveit2/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit2/actions/workflows/ci.yaml?query=branch%3Amain) [![Code Coverage](https://codecov.io/gh/ros-planning/moveit2/branch/main/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit2) ## Getting Started @@ -56,47 +56,42 @@ research and innovation programme under grant agreement no. 732287. See [How To Generate API Doxygen Reference Locally](https://moveit.picknik.ai/main/doc/how_to_guides/how_to_generate_api_doxygen_locally.html). # Buildfarm -| Package | Humble Binary | Iron Binary | Rolling Binary | -|:---:|:---:|:---:|:---:| -| geometric_shapes | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | -| moveit | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit__ubuntu_jammy_amd64__binary) | -| moveit_common | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_common__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_common__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary) | -| moveit_core | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_core__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_core__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary) | -| moveit_hybrid_planning | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary) | -| moveit_kinematics | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary) | -| moveit_msgs | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary) | -| moveit_planners | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary) | -| moveit_planners_ompl | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary) | -| moveit_planners_stomp | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary) | -| moveit_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary) | -| moveit_resources | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary) | -| moveit_resources_fanuc_description | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_resources_fanuc_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_resources_fanuc_description__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_resources_fanuc_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_resources_fanuc_description__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_resources_fanuc_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_resources_fanuc_description__ubuntu_jammy_amd64__binary) | -| moveit_resources_fanuc_moveit_config | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_resources_fanuc_moveit_config__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_resources_fanuc_moveit_config__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_resources_fanuc_moveit_config__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_resources_fanuc_moveit_config__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_resources_fanuc_moveit_config__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_resources_fanuc_moveit_config__ubuntu_jammy_amd64__binary) | -| moveit_resources_panda_description | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_resources_panda_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_resources_panda_description__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_resources_panda_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_resources_panda_description__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_resources_panda_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_resources_panda_description__ubuntu_jammy_amd64__binary) | -| moveit_resources_panda_moveit_config | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_resources_panda_moveit_config__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_resources_panda_moveit_config__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_resources_panda_moveit_config__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_resources_panda_moveit_config__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_resources_panda_moveit_config__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_resources_panda_moveit_config__ubuntu_jammy_amd64__binary) | -| moveit_resources_pr2_description | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_resources_pr2_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_resources_pr2_description__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_resources_pr2_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_resources_pr2_description__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_resources_pr2_description__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_resources_pr2_description__ubuntu_jammy_amd64__binary) | -| moveit_ros | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary) | -| moveit_ros_benchmarks | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary) | -| moveit_ros_move_group | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary) | -| moveit_ros_occupancy_map_monitor | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | -| moveit_ros_perception | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | -| moveit_ros_planning | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | -| moveit_ros_planning_interface | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | -| moveit_ros_robot_interaction | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | -| moveit_ros_visualization | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | -| moveit_ros_warehouse | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | -| moveit_runtime | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | -| moveit_servo | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | -| moveit_setup_app_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | -| moveit_setup_assistant | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | -| moveit_setup_controllers | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | -| moveit_setup_core_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | -| moveit_setup_framework | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | -| moveit_setup_srdf_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | -| moveit_simple_controller_manager | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | -| pilz_industrial_motion_planner | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | -| pilz_industrial_motion_planner_testutils | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | -| random_numbers | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__random_numbers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | -| srdfdom | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__srdfdom__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | -| warehouse_ros | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | -| warehouse_ros_sqlite | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | +| Package | Humble Binary | Iron Binary | Rolling Binary | Jazzy Binary | +|:---:|:---:|:---:|:---:|:---:| +| geometric_shapes | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary) | +| moveit | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit__ubuntu_noble_amd64__binary) | +| moveit_common | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_common__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_common__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_common__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_common__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_common__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_common__ubuntu_noble_amd64__binary) | +| moveit_core | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_core__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_core__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_core__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_core__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_core__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_core__ubuntu_noble_amd64__binary) | +| moveit_hybrid_planning | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary) | +| moveit_kinematics | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary) | +| moveit_msgs | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary) | +| moveit_planners | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_planners__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_planners__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_planners__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_planners__ubuntu_noble_amd64__binary) | +| moveit_planners_ompl | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary) | +| moveit_planners_stomp | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary) | +| moveit_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary) | +| moveit_resources | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_resources__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_resources__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_resources__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_resources__ubuntu_noble_amd64__binary) | +| moveit_ros | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros__ubuntu_noble_amd64__binary) | +| moveit_ros_benchmarks | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary) | +| moveit_ros_move_group | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary) | +| moveit_ros_occupancy_map_monitor | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary) | +| moveit_ros_perception | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary) | +| moveit_ros_planning | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary) | +| moveit_ros_planning_interface | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary) | +| moveit_ros_robot_interaction | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary) | +| moveit_ros_visualization | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary) | +| moveit_ros_warehouse | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary) | +| moveit_runtime | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_runtime__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_runtime__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_runtime__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_runtime__ubuntu_noble_amd64__binary) | +| moveit_servo | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_servo__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_servo__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_servo__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_servo__ubuntu_noble_amd64__binary) | +| moveit_setup_app_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary) | +| moveit_setup_assistant | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary) | +| moveit_setup_controllers | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_setup_controllers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_setup_controllers__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_setup_controllers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_setup_controllers__ubuntu_noble_amd64__binary) | +| moveit_setup_core_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_setup_core_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_setup_core_plugins__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_setup_core_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_setup_core_plugins__ubuntu_noble_amd64__binary) | +| moveit_setup_framework | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_setup_framework__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_setup_framework__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_setup_framework__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_setup_framework__ubuntu_noble_amd64__binary) | +| moveit_setup_srdf_plugins | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_setup_srdf_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_setup_srdf_plugins__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_setup_srdf_plugins__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_setup_srdf_plugins__ubuntu_noble_amd64__binary) | +| moveit_simple_controller_manager | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__moveit_simple_controller_manager__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__moveit_simple_controller_manager__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__moveit_simple_controller_manager__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__moveit_simple_controller_manager__ubuntu_noble_amd64__binary) | +| pilz_industrial_motion_planner | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__pilz_industrial_motion_planner__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__pilz_industrial_motion_planner__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__pilz_industrial_motion_planner__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__pilz_industrial_motion_planner__ubuntu_noble_amd64__binary) | +| pilz_industrial_motion_planner_testutils | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__pilz_industrial_motion_planner_testutils__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__pilz_industrial_motion_planner_testutils__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__pilz_industrial_motion_planner_testutils__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__pilz_industrial_motion_planner_testutils__ubuntu_noble_amd64__binary) | +| random_numbers | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__random_numbers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__random_numbers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__random_numbers__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__random_numbers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__random_numbers__ubuntu_noble_amd64__binary) | +| srdfdom | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__srdfdom__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__srdfdom__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__srdfdom__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__srdfdom__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__srdfdom__ubuntu_noble_amd64__binary) | +| warehouse_ros | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary) | +| warehouse_ros_sqlite | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary) | diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst index 0e984538ce..a20ae58929 100644 --- a/moveit/CHANGELOG.rst +++ b/moveit/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit/package.xml b/moveit/package.xml index b8c1264281..d87906c7c4 100644 --- a/moveit/package.xml +++ b/moveit/package.xml @@ -2,7 +2,7 @@ moveit - 2.9.0 + 2.10.0 Meta package that contains all essential packages of MoveIt 2 Henning Kayser Tyler Weaver @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2 - https://github.com/ros-planning/moveit2/issues + https://github.com/moveit/moveit2 + https://github.com/moveit/moveit2/issues Ioan Sucan Sachin Chitta diff --git a/moveit/scripts/create_maintainer_table.py b/moveit/scripts/create_maintainer_table.py index c1d1ca0a44..2cd7999fd0 100644 --- a/moveit/scripts/create_maintainer_table.py +++ b/moveit/scripts/create_maintainer_table.py @@ -161,7 +161,7 @@ def get_first_folder(path): def populate_package_data(path, package): output = ( - "" + package.name diff --git a/moveit2.repos b/moveit2.repos index c0f93c4298..aec6f2851e 100644 --- a/moveit2.repos +++ b/moveit2.repos @@ -1,14 +1,14 @@ repositories: # Keep moveit_* repos here because they are released with moveit + geometric_shapes: + type: git + url: https://github.com/moveit/geometric_shapes.git + version: ros2 moveit_msgs: type: git - url: https://github.com/ros-planning/moveit_msgs.git + url: https://github.com/moveit/moveit_msgs.git version: ros2 moveit_resources: type: git - url: https://github.com/ros-planning/moveit_resources.git + url: https://github.com/moveit/moveit_resources.git version: ros2 - generate_parameter_library: - type: git - url: https://github.com/PickNikRobotics/generate_parameter_library.git - version: 0.3.7 diff --git a/moveit2_humble.repos b/moveit2_humble.repos new file mode 100644 index 0000000000..71a9316f22 --- /dev/null +++ b/moveit2_humble.repos @@ -0,0 +1,5 @@ +repositories: + generate_parameter_library: + type: git + url: https://github.com/PickNikRobotics/generate_parameter_library.git + version: 0.3.7 diff --git a/moveit2_iron.repos b/moveit2_iron.repos new file mode 100644 index 0000000000..71a9316f22 --- /dev/null +++ b/moveit2_iron.repos @@ -0,0 +1,5 @@ +repositories: + generate_parameter_library: + type: git + url: https://github.com/PickNikRobotics/generate_parameter_library.git + version: 0.3.7 diff --git a/moveit_common/CHANGELOG.rst b/moveit_common/CHANGELOG.rst index 4c9f32767a..3817d0958d 100644 --- a/moveit_common/CHANGELOG.rst +++ b/moveit_common/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_common/package.xml b/moveit_common/package.xml index 075d3decd3..497a394c9c 100644 --- a/moveit_common/package.xml +++ b/moveit_common/package.xml @@ -2,7 +2,7 @@ moveit_common - 2.9.0 + 2.10.0 Common support functionality used throughout MoveIt Henning Kayser Tyler Weaver @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Lior Lustgarten diff --git a/moveit_configs_utils/CHANGELOG.rst b/moveit_configs_utils/CHANGELOG.rst index 076e9b1415..ef4153feb6 100644 --- a/moveit_configs_utils/CHANGELOG.rst +++ b/moveit_configs_utils/CHANGELOG.rst @@ -2,6 +2,25 @@ Changelog for package moveit_configs_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Fix xacro args loading issue (`#2684 `_) + * Fixed xacro args loading issue + * Formatting fixes with pre-commit action +* Pass along move_group_capabilities parameters (`#2587 `_) + * Pass along move_group_capabilities parameters + * fix lint check + * Use move_group_capabilities as default launch argument +* CMake format and lint in pre-commit (`#2683 `_) +* Use different packages for launch and config packages in generate_demo_launch (`#2647 `_) +* Contributors: Alex Navarro, Forrest Rogers-Marcovitz, Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py index af23afc2c4..04cb077514 100644 --- a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py +++ b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py @@ -414,7 +414,7 @@ def sensors_3d(self, file_path: Optional[str] = None): if sensors_path.exists(): sensors_data = load_yaml(sensors_path) # TODO(mikeferguson): remove the second part of this check once - # https://github.com/ros-planning/moveit_resources/pull/141 has made through buildfarm + # https://github.com/moveit/moveit_resources/pull/141 has made through buildfarm if len(sensors_data["sensors"]) > 0 and sensors_data["sensors"][0]: self.__moveit_configs.sensors_3d = sensors_data return self diff --git a/moveit_configs_utils/package.xml b/moveit_configs_utils/package.xml index a0a747f10d..f72fd7510a 100644 --- a/moveit_configs_utils/package.xml +++ b/moveit_configs_utils/package.xml @@ -2,7 +2,7 @@ moveit_configs_utils - 2.9.0 + 2.10.0 Python library for loading moveit config parameters in launch files MoveIt Release Team BSD-3-Clause diff --git a/moveit_configs_utils/setup.py b/moveit_configs_utils/setup.py index 8007a515af..8f6c23d322 100644 --- a/moveit_configs_utils/setup.py +++ b/moveit_configs_utils/setup.py @@ -5,7 +5,7 @@ setup( name=package_name, - version="2.9.0", + version="2.10.0", packages=find_packages(), data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/moveit_core/CHANGELOG.rst b/moveit_core/CHANGELOG.rst index d8708fde06..2b4633600b 100644 --- a/moveit_core/CHANGELOG.rst +++ b/moveit_core/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package moveit_core ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Enforce liboctomap-dev by using a cmake version range +* Add utility functions to get limits and trajectory message (`#2861 `_) +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Use std::optional instead of nullptr checking (`#2454 `_) +* Enable mdof trajectory execution (`#2740 `_) + * Add RobotTrajectory conversion from MDOF to joints + * Convert MDOF trajectories to joint trajectories in planning interfaces + * Treat mdof joint variables as common joints in + TrajectoryExecutionManager + * Convert multi-DOF trajectories to joints in TEM + * Revert "Convert MDOF trajectories to joint trajectories in planning interfaces" + This reverts commit 885ee2718594859555b73dc341311a859d31216e. + * Handle multi-DOF variables in TEM's bound checking + * Add parameter to optionally enable multi-dof conversion + * Improve error message about unknown controllers + * Fix name ordering in JointTrajectory conversion + * Improve DEBUG output in TEM + * Comment RobotTrajectory test + * add acceleration to avoid out of bounds read +* Fix doc reference to non-existent function (`#2765 `_) +* (core) Remove unused python docs folder (`#2746 `_) +* Unify log names (`#2720 `_) +* (core) Install collision_detector_fcl_plugin (`#2699 `_) + FCL version of acda563 +* Simplify Isometry multiplication benchmarks (`#2628 `_) + With the benchmark library, there is no need to specify an iteration count. + Interestingly, 4x4 matrix multiplication is faster than affine*matrix +* CMake format and lint in pre-commit (`#2683 `_) +* Merge pull request `#2660 `_ from MarqRazz/pr-fix_model_with_collision + Fix getLinkModelNamesWithCollisionGeometry to include the base link +* validate link has parent +* pre-commit +* Fix getLinkModelNamesWithCollisionGeometry to include the base link of the planning group +* Acceleration Limited Smoothing Plugin for Servo (`#2651 `_) +* Contributors: Henning Kayser, Marq Rasmussen, Matthijs van der Burgh, Paul Gesel, Robert Haschke, Sebastian Jahr, Shobuj Paul, Tyler Weaver, marqrazz + 2.9.0 (2024-01-09) ------------------ * (core) Remove all references to python wrapper from the core pkg (`#2623 `_) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index afdf3d515a..90b2851ded 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -18,7 +18,9 @@ find_package(geometric_shapes REQUIRED) find_package(geometry_msgs REQUIRED) find_package(kdl_parser REQUIRED) find_package(moveit_msgs REQUIRED) -find_package(OCTOMAP REQUIRED) +# Enforce system version liboctomap-dev +# https://github.com/moveit/moveit2/issues/2862 +find_package(octomap 1.9.7...<1.10.0 REQUIRED) find_package(octomap_msgs REQUIRED) find_package(osqp REQUIRED) find_package(pluginlib REQUIRED) @@ -114,7 +116,7 @@ ament_export_dependencies( geometry_msgs kdl_parser moveit_msgs - OCTOMAP + octomap octomap_msgs osqp pluginlib diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt index 05a2c32dc6..cd90e4d5c5 100644 --- a/moveit_core/collision_detection/CMakeLists.txt +++ b/moveit_core/collision_detection/CMakeLists.txt @@ -28,7 +28,7 @@ ament_target_dependencies( visualization_msgs tf2_eigen geometric_shapes - OCTOMAP) + octomap) target_include_directories( moveit_collision_detection BEFORE PUBLIC $) diff --git a/moveit_core/collision_detection/src/collision_octomap_filter.cpp b/moveit_core/collision_detection/src/collision_octomap_filter.cpp index 3e407db29e..aca52fa2c8 100644 --- a/moveit_core/collision_detection/src/collision_octomap_filter.cpp +++ b/moveit_core/collision_detection/src/collision_octomap_filter.cpp @@ -126,15 +126,15 @@ int collision_detection::refineContactNormals(const World::ObjectConstPtr& objec octree->begin_leafs_bbx(bbx_min, bbx_max); octomap::OcTreeBaseImpl::leaf_bbx_iterator leafs_end = octree->end_leafs_bbx(); - int count = 0; + // int count = 0; for (; it != leafs_end; ++it) { const octomap::point3d pt = it.getCoordinate(); - // double prob = it->getOccupancy(); if (octree->isNodeOccupied(*it)) // magic number! { - count++; node_centers.push_back(pt); + // count++; + // double prob = it->getOccupancy(); // RCLCPP_INFO(getLogger(), "Adding point %d with prob %.3f at [%.3f, %.3f, %.3f]", // count, prob, pt.x(), pt.y(), pt.z()); } diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp index b27a2b5b15..eae07cf01c 100644 --- a/moveit_core/collision_detection/src/world.cpp +++ b/moveit_core/collision_detection/src/world.cpp @@ -109,6 +109,7 @@ void World::addToObject(const std::string& object_id, const Eigen::Isometry3d& p std::vector World::getObjectIds() const { std::vector ids; + ids.reserve(objects_.size()); for (const auto& object : objects_) ids.push_back(object.first); return ids; diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt index 7a4774e04c..63b63a013d 100644 --- a/moveit_core/collision_distance_field/CMakeLists.txt +++ b/moveit_core/collision_distance_field/CMakeLists.txt @@ -16,7 +16,7 @@ set_target_properties(moveit_collision_distance_field PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") ament_target_dependencies(moveit_collision_distance_field urdf - visualization_msgs tf2_eigen geometric_shapes OCTOMAP) + visualization_msgs tf2_eigen geometric_shapes octomap) target_link_libraries( moveit_collision_distance_field moveit_planning_scene moveit_distance_field @@ -34,7 +34,7 @@ if(BUILD_TESTING) ament_add_gtest(test_collision_distance_field test/test_collision_distance_field.cpp) ament_target_dependencies(test_collision_distance_field geometric_shapes - OCTOMAP srdfdom resource_retriever) + octomap srdfdom resource_retriever) target_link_libraries( test_collision_distance_field moveit_collision_distance_field diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp b/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp index 7b97b1cbad..b35496a1a4 100644 --- a/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp +++ b/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp @@ -804,6 +804,6 @@ bool PR2ArmIK::checkJointLimits(const double joint_value, const int joint_num) c jv = angles::normalize_angle(joint_value * angle_multipliers_[joint_num]); } - return !(jv < min_angles_[joint_num] || jv > max_angles_[joint_num]); + return jv >= min_angles_[joint_num] && jv <= max_angles_[joint_num]; } } // namespace pr2_arm_kinematics diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt index ad1700d676..c70886f12f 100644 --- a/moveit_core/distance_field/CMakeLists.txt +++ b/moveit_core/distance_field/CMakeLists.txt @@ -17,7 +17,7 @@ ament_target_dependencies( visualization_msgs geometric_shapes tf2_eigen - OCTOMAP) + octomap) install(DIRECTORY include/ DESTINATION include/moveit_core) @@ -28,5 +28,5 @@ if(BUILD_TESTING) target_link_libraries(test_voxel_grid moveit_distance_field) ament_add_gtest(test_distance_field test/test_distance_field.cpp) - target_link_libraries(test_distance_field moveit_distance_field) + target_link_libraries(test_distance_field moveit_distance_field octomap) endif() diff --git a/moveit_core/distance_field/test/test_distance_field.cpp b/moveit_core/distance_field/test/test_distance_field.cpp index 5792eaa336..62cbfe6d63 100644 --- a/moveit_core/distance_field/test/test_distance_field.cpp +++ b/moveit_core/distance_field/test/test_distance_field.cpp @@ -807,20 +807,17 @@ TEST(TestSignedPropagationDistanceField, TestPerformance) PERF_ORIGIN_Z, PERF_MAX_DIST, true); EigenSTL::vector_Vector3d bad_vec; - unsigned int count = 0; for (unsigned int z = UNIFORM_DISTANCE; z < worstdfu.getZNumCells() - UNIFORM_DISTANCE; z += UNIFORM_DISTANCE) { for (unsigned int x = UNIFORM_DISTANCE; x < worstdfu.getXNumCells() - UNIFORM_DISTANCE; x += UNIFORM_DISTANCE) { for (unsigned int y = UNIFORM_DISTANCE; y < worstdfu.getYNumCells() - UNIFORM_DISTANCE; y += UNIFORM_DISTANCE) { - count++; Eigen::Vector3d loc; bool valid = worstdfu.gridToWorld(x, y, z, loc.x(), loc.y(), loc.z()); if (!valid) { - // RCLCPP_WARN("distance_field", "Something wrong"); continue; } bad_vec.push_back(loc); diff --git a/moveit_core/package.xml b/moveit_core/package.xml index 1517f440d6..76dd4b5596 100644 --- a/moveit_core/package.xml +++ b/moveit_core/package.xml @@ -2,7 +2,7 @@ moveit_core - 2.9.0 + 2.10.0 Core libraries used by MoveIt Henning Kayser @@ -13,8 +13,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta @@ -41,7 +41,13 @@ libfcl-dev moveit_common moveit_msgs + octomap_msgs osqp_vendor pluginlib diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt index 91899f3b79..debb3e5b65 100644 --- a/moveit_core/planning_scene/CMakeLists.txt +++ b/moveit_core/planning_scene/CMakeLists.txt @@ -17,7 +17,7 @@ ament_target_dependencies( urdfdom urdfdom_headers octomap_msgs - OCTOMAP) + octomap) target_link_libraries( moveit_planning_scene diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h index ad8ff4a0cf..c63112fde4 100644 --- a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h +++ b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h @@ -586,6 +586,21 @@ class JointModelGroup bool computeJointVariableIndices(const std::vector& joint_names, std::vector& joint_bijection) const; + /** + * @brief Get the lower and upper position limits of all active variables in the group. + * + * @return std::pair Containing the lower and upper joint limits for all active variables. + */ + [[nodiscard]] std::pair getLowerAndUpperLimits() const; + + /** + * @brief Gets the pair of maximum joint velocities/accelerations for a given group. Asserts that the group contains + * only single-variable joints, + * @details In case of asymmetric velocity or acceleration limits, this function will return the most limiting component. + * @return std::pair Containing the velocity and acceleration limits + */ + [[nodiscard]] std::pair getMaxVelocitiesAndAccelerationBounds() const; + protected: /** \brief Update the variable values for the state of a group with respect to the mimic joints. This only updates mimic joints that have the parent in this group. If there is a joint mimicking one that is outside the group, diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp index a9986368e3..2776bb0c9d 100644 --- a/moveit_core/robot_model/src/joint_model_group.cpp +++ b/moveit_core/robot_model/src/joint_model_group.cpp @@ -831,5 +831,56 @@ bool JointModelGroup::isValidVelocityMove(const double* from_joint_pose, const d return true; } + +std::pair JointModelGroup::getLowerAndUpperLimits() const +{ + // Get the group joints lower/upper position limits. + Eigen::VectorXd lower_limits(active_variable_count_); + Eigen::VectorXd upper_limits(active_variable_count_); + int variable_index = 0; + for (const moveit::core::JointModel::Bounds* joint_bounds : active_joint_models_bounds_) + { + for (const moveit::core::VariableBounds& variable_bounds : *joint_bounds) + { + lower_limits[variable_index] = variable_bounds.min_position_; + upper_limits[variable_index] = variable_bounds.max_position_; + variable_index++; + } + } + return { lower_limits, upper_limits }; +} + +std::pair JointModelGroup::getMaxVelocitiesAndAccelerationBounds() const +{ + Eigen::VectorXd max_joint_velocities = Eigen::VectorXd::Constant(active_variable_count_, 0.0); + Eigen::VectorXd max_joint_accelerations = Eigen::VectorXd::Constant(active_variable_count_, 0.0); + // Check if variable count matches number of joint model bounds + if (active_joint_models_bounds_.size() != active_variable_count_) + { + // TODO(sjahr) Support multiple variables + RCLCPP_ERROR(getLogger(), "Number of active joint models does not match number of active joint model bounds. " + "Returning bound vectors with zeros"); + return { max_joint_velocities, max_joint_accelerations }; + } + // Check if the joint group contains multi-dof joints + for (const auto& bound : active_joint_models_bounds_) + { + if (bound->size() != 1) + { + RCLCPP_ERROR(getLogger(), "Multi-dof joints are currently not supported by " + "getMaxVelocitiesAndAccelerationBounds(). Returning bound vectors with zeros."); + return { max_joint_velocities, max_joint_accelerations }; + } + } + // Populate max_joint_velocity and acceleration vectors + for (std::size_t i = 0; i < active_joint_models_bounds_.size(); ++i) + { + max_joint_velocities[i] = std::min(-active_joint_models_bounds_[i]->at(0).min_velocity_, + active_joint_models_bounds_[i]->at(0).max_velocity_); + max_joint_accelerations[i] = std::min(-active_joint_models_bounds_[i]->at(0).min_acceleration_, + active_joint_models_bounds_[i]->at(0).max_acceleration_); + } + return { max_joint_velocities, max_joint_accelerations }; +} } // end of namespace core } // end of namespace moveit diff --git a/moveit_core/robot_model/src/prismatic_joint_model.cpp b/moveit_core/robot_model/src/prismatic_joint_model.cpp index e229910d2f..81e9128053 100644 --- a/moveit_core/robot_model/src/prismatic_joint_model.cpp +++ b/moveit_core/robot_model/src/prismatic_joint_model.cpp @@ -79,7 +79,7 @@ void PrismaticJointModel::getVariableDefaultPositions(double* values, const Boun bool PrismaticJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds, double margin) const { - return !(values[0] < bounds[0].min_position_ - margin || values[0] > bounds[0].max_position_ + margin); + return values[0] >= bounds[0].min_position_ - margin && values[0] <= bounds[0].max_position_ + margin; } void PrismaticJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values, diff --git a/moveit_core/robot_model/src/revolute_joint_model.cpp b/moveit_core/robot_model/src/revolute_joint_model.cpp index 1b80b4e2e7..524632159c 100644 --- a/moveit_core/robot_model/src/revolute_joint_model.cpp +++ b/moveit_core/robot_model/src/revolute_joint_model.cpp @@ -189,7 +189,7 @@ bool RevoluteJointModel::satisfiesPositionBounds(const double* values, const Bou } else { - return !(values[0] < bounds[0].min_position_ - margin || values[0] > bounds[0].max_position_ + margin); + return values[0] >= bounds[0].min_position_ - margin && values[0] <= bounds[0].max_position_ + margin; } } diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp index 8fdce99e73..cafb5bf01f 100644 --- a/moveit_core/robot_state/test/robot_state_test.cpp +++ b/moveit_core/robot_state/test/robot_state_test.cpp @@ -95,7 +95,7 @@ void checkJacobian(moveit::core::RobotState& state, const moveit::core::JointMod EXPECT_NEAR(angle, 0.0, 1e-05) << "Angle between Cartesian velocity and Cartesian displacement larger than expected. " "Angle: " << angle << ". displacement: " << displacement.transpose() - << ". Cartesian velocity: " << cartesian_velocity.head<3>().transpose() << std::endl; + << ". Cartesian velocity: " << cartesian_velocity.head<3>().transpose() << '\n'; } } // namespace diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h index 5ca5e86aae..1f77946234 100644 --- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h +++ b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h @@ -242,7 +242,7 @@ class RobotTrajectory RobotTrajectory& append(const RobotTrajectory& source, double dt, size_t start_index = 0, size_t end_index = std::numeric_limits::max()); - void swap(robot_trajectory::RobotTrajectory& other); + void swap(robot_trajectory::RobotTrajectory& other) noexcept; RobotTrajectory& clear() { diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp index 93d3537a41..8e0eed38be 100644 --- a/moveit_core/robot_trajectory/src/robot_trajectory.cpp +++ b/moveit_core/robot_trajectory/src/robot_trajectory.cpp @@ -121,7 +121,7 @@ double RobotTrajectory::getAverageSegmentDuration() const return getDuration() / static_cast(duration_from_previous_.size()); } -void RobotTrajectory::swap(RobotTrajectory& other) +void RobotTrajectory::swap(RobotTrajectory& other) noexcept { robot_model_.swap(other.robot_model_); std::swap(group_, other.group_); @@ -719,7 +719,7 @@ std::optional toJointTrajectory(const Rob const std::vector& joint_filter) { const auto group = trajectory.getGroup(); - const auto robot_model = trajectory.getRobotModel(); + const auto& robot_model = trajectory.getRobotModel(); const std::vector& jnts = group ? group->getActiveJointModels() : robot_model->getActiveJointModels(); diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h index 2e8d600cb3..876f3af06c 100644 --- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h +++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/trajectory_tools.h @@ -38,6 +38,7 @@ #include #include +#include namespace trajectory_processing { @@ -79,4 +80,11 @@ bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor, double acceleration_scaling_factor, bool mitigate_overshoot = false, double overshoot_threshold = 0.01); + +/** + * @brief Converts a `trajectory_processing::Trajectory` into a `JointTrajectory` message with a given sampling rate. + */ +[[nodiscard]] trajectory_msgs::msg::JointTrajectory +createTrajectoryMessage(const std::vector& joint_names, + const trajectory_processing::Trajectory& trajectory, const int sampling_rate); } // namespace trajectory_processing diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp index 17056e0c9f..ad9225b34a 100644 --- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp +++ b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp @@ -586,7 +586,7 @@ bool Trajectory::integrateForward(std::list& trajectory, double if (next_discontinuity != switching_points.end() && path_pos > next_discontinuity->first) { // Avoid having a TrajectoryStep with path_pos near a switching point which will cause an almost identical - // TrajectoryStep get added in the next run (https://github.com/ros-planning/moveit/issues/1665) + // TrajectoryStep get added in the next run (https://github.com/moveit/moveit/issues/1665) if (path_pos - next_discontinuity->first < EPS) { continue; diff --git a/moveit_core/trajectory_processing/src/trajectory_tools.cpp b/moveit_core/trajectory_processing/src/trajectory_tools.cpp index 6ce5a412e6..b15f0ca9a3 100644 --- a/moveit_core/trajectory_processing/src/trajectory_tools.cpp +++ b/moveit_core/trajectory_processing/src/trajectory_tools.cpp @@ -37,8 +37,20 @@ #include #include #include + +#include +#include namespace trajectory_processing { + +namespace +{ +rclcpp::Logger getLogger() +{ + return moveit::getLogger("moveit.trajectory_processing.trajectory_tools"); +} +} // namespace + bool isTrajectoryEmpty(const moveit_msgs::msg::RobotTrajectory& trajectory) { return trajectory.joint_trajectory.points.empty() && trajectory.multi_dof_joint_trajectory.points.empty(); @@ -62,4 +74,37 @@ bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, double return time_param.applySmoothing(trajectory, velocity_scaling_factor, acceleration_scaling_factor, mitigate_overshoot, overshoot_threshold); } + +trajectory_msgs::msg::JointTrajectory createTrajectoryMessage(const std::vector& joint_names, + const trajectory_processing::Trajectory& trajectory, + const int sampling_rate) +{ + trajectory_msgs::msg::JointTrajectory trajectory_msg; + if (sampling_rate <= 0) + { + RCLCPP_ERROR(getLogger(), "Cannot sample trajectory with sampling rate <= 0. Returning empty trajectory."); + return trajectory_msg; + } + trajectory_msg.joint_names = joint_names; + const double time_step = 1.0 / static_cast(sampling_rate); + const int n_samples = static_cast(trajectory.getDuration() / time_step) + 1; + trajectory_msg.points.reserve(n_samples); + for (int sample = 0; sample < n_samples; ++sample) + { + const double t = sample * time_step; + trajectory_msgs::msg::JointTrajectoryPoint point; + auto position = trajectory.getPosition(t); + auto velocity = trajectory.getVelocity(t); + auto acceleration = trajectory.getAcceleration(t); + for (std::size_t i = 0; i < joint_names.size(); i++) + { + point.positions.push_back(position[i]); + point.velocities.push_back(velocity[i]); + point.accelerations.push_back(acceleration[i]); + } + point.time_from_start = rclcpp::Duration(std::chrono::duration(t)); + trajectory_msg.points.push_back(std::move(point)); + } + return trajectory_msg; +} } // namespace trajectory_processing diff --git a/moveit_core/version/version.cpp b/moveit_core/version/version.cpp index 533b482cda..498c61cd4c 100644 --- a/moveit_core/version/version.cpp +++ b/moveit_core/version/version.cpp @@ -47,6 +47,6 @@ int main(int /*argc*/, char** /*argv*/) if (strlen(MOVEIT_GIT_NAME)) std::cout << " (" << MOVEIT_GIT_NAME << ")"; } - std::cout << std::endl; + std::cout << '\n'; return 0; } diff --git a/moveit_kinematics/CHANGELOG.rst b/moveit_kinematics/CHANGELOG.rst index 91fe92c643..78f9552a4a 100644 --- a/moveit_kinematics/CHANGELOG.rst +++ b/moveit_kinematics/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package moveit_kinematics ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* At least on humble, error is: 'robot_description_kinematics.arm.min_joint_config_distance' has invalid type: expected [double] got [integer]. (`#2865 `_) +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CI: Fix building of ikfast plugins (`#2791 `_) + Ignore missing authentication for Indigo packages using --force-yes. +* Unify log names (`#2720 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Henning Kayser, Robert Haschke, Sebastian Jahr, Tyler Weaver, s-trinh + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/README.md b/moveit_kinematics/cached_ik_kinematics_plugin/README.md index d935fc6869..3d7f7c3b05 100644 --- a/moveit_kinematics/cached_ik_kinematics_plugin/README.md +++ b/moveit_kinematics/cached_ik_kinematics_plugin/README.md @@ -17,8 +17,8 @@ to this: kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin # optional parameters for caching: max_cache_size: 10000 - min_pose_distance: 1 - min_joint_config_distance: 4 + min_pose_distance: 1.0 + min_joint_config_distance: 4.0 The cache size can be controlled with an absolute cap (`max_cache_size`) or with a distance threshold on the end effector pose (`min_pose_distance`) or robot joint state (`min_joint_config_distance`). Normally, the cache files are saved to the current working directory (which is usually `${HOME}/.ros`, not the directory where you ran `roslaunch`), in a subdirectory for each robot. Possible values for `kinematics_solver` are: diff --git a/moveit_kinematics/ikfast_kinematics_plugin/README.md b/moveit_kinematics/ikfast_kinematics_plugin/README.md index 6d82d0a417..ad46636df0 100644 --- a/moveit_kinematics/ikfast_kinematics_plugin/README.md +++ b/moveit_kinematics/ikfast_kinematics_plugin/README.md @@ -7,4 +7,4 @@ Generates a IKFast kinematics plugin for MoveIt using [OpenRave](http://openrave Tested on ROS Hydro and greater with Catkin using OpenRave 0.8 with a 6dof and 7dof robot arm manipulator. Does not work with greater than 7dof. -[Documentation on docs.ros.org](https://ros-planning.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#creating-the-ikfast-moveit-plugin) +[Documentation on docs.ros.org](https://moveit.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#creating-the-ikfast-moveit-plugin) diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp index 6d4671ea90..fdba5f1f5b 100644 --- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp +++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp @@ -808,7 +808,10 @@ bool IKFastKinematicsPlugin::getPositionFK(const std::vector& link_ return false; } +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wvla-cxx-extension" IkReal angles[num_joints_]; +#pragma clang diagnostic pop for (unsigned char i = 0; i < num_joints_; ++i) angles[i] = joint_angles[i]; diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml index f9602fc59a..317aef4fe9 100644 --- a/moveit_kinematics/package.xml +++ b/moveit_kinematics/package.xml @@ -2,7 +2,7 @@ moveit_kinematics - 2.9.0 + 2.10.0 Package for all inverse kinematics solvers in MoveIt Henning Kayser @@ -14,8 +14,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2 - https://github.com/ros-planning/moveit2/issues + https://github.com/moveit/moveit2 + https://github.com/moveit/moveit2/issues Dave Coleman Ioan Sucan diff --git a/moveit_kinematics/test/test_ikfast_plugins.sh b/moveit_kinematics/test/test_ikfast_plugins.sh index 96e63e2396..c435c46921 100755 --- a/moveit_kinematics/test/test_ikfast_plugins.sh +++ b/moveit_kinematics/test/test_ikfast_plugins.sh @@ -11,7 +11,7 @@ sudo apt-get -qq update sudo apt-get -qq install python3-lxml python3-yaml # Clone moveit_resources for URDFs. They are not available before running docker. -git clone -q --depth=1 -b ros2 https://github.com/ros-planning/moveit_resources /tmp/resources +git clone -q --depth=1 -b ros2 https://github.com/moveit/moveit_resources /tmp/resources fanuc=/tmp/resources/fanuc_description/urdf/fanuc.urdf panda=/tmp/resources/panda_description/urdf/panda.urdf diff --git a/moveit_planners/chomp/README.md b/moveit_planners/chomp/README.md index a4d37b32e9..0be4fddc1f 100644 --- a/moveit_planners/chomp/README.md +++ b/moveit_planners/chomp/README.md @@ -1,3 +1,3 @@ ## CHOMP Motion Planner -See [Chomp Interface Tutorial](https://ros-planning.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html) +See [Chomp Interface Tutorial](https://moveit.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html) diff --git a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst index 4b9ac61f7a..9b0a690d08 100644 --- a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst +++ b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package chomp_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_planners/chomp/chomp_interface/package.xml b/moveit_planners/chomp/chomp_interface/package.xml index 0c30b02e2d..8f55fadf2d 100644 --- a/moveit_planners/chomp/chomp_interface/package.xml +++ b/moveit_planners/chomp/chomp_interface/package.xml @@ -2,7 +2,7 @@ moveit_planners_chomp - 2.9.0 + 2.10.0 The interface for using CHOMP within MoveIt Chittaranjan Srinivas Swaminathan diff --git a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst index 83f7ba3263..6591863976 100644 --- a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst +++ b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package chomp_motion_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_planners/chomp/chomp_motion_planner/package.xml b/moveit_planners/chomp/chomp_motion_planner/package.xml index daaf573ef1..0db9ec3005 100644 --- a/moveit_planners/chomp/chomp_motion_planner/package.xml +++ b/moveit_planners/chomp/chomp_motion_planner/package.xml @@ -2,7 +2,7 @@ chomp_motion_planner - 2.9.0 + 2.10.0 chomp_motion_planner Chittaranjan Srinivas Swaminathan diff --git a/moveit_planners/moveit_planners/CHANGELOG.rst b/moveit_planners/moveit_planners/CHANGELOG.rst index 27901f8ac6..9154400d7c 100644 --- a/moveit_planners/moveit_planners/CHANGELOG.rst +++ b/moveit_planners/moveit_planners/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_planners ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml index a23c871731..a1355c8bfe 100644 --- a/moveit_planners/moveit_planners/package.xml +++ b/moveit_planners/moveit_planners/package.xml @@ -2,7 +2,7 @@ moveit_planners - 2.9.0 + 2.10.0 Meta package that installs all available planners for MoveIt Henning Kayser Tyler Weaver @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta diff --git a/moveit_planners/ompl/CHANGELOG.rst b/moveit_planners/ompl/CHANGELOG.rst index 8db3baef40..7bdd3f4e2b 100644 --- a/moveit_planners/ompl/CHANGELOG.rst +++ b/moveit_planners/ompl/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package moveit_planners_ompl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Do not overwrite the error code with OMPL interface (`#2725 `_) + In case of failure, set the error code to the one returned by the + planning pipeline's `solve` method rather than overwriting it with + `PLANNING_FAILED`. +* Set `planner_id` in reponses with OMPL interface (`#2724 `_) + This avoids a warning `PlanningPipeline::generatePlan()`. + Co-authored-by: Gaël Écorchard +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Gaël Écorchard, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Handle unsupported position constraints in OMPL (`#2417 `_) diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h index 5dfafa7f2c..a3fead6927 100644 --- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h +++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.h @@ -115,7 +115,7 @@ class StateValidityChecker : public ompl::base::StateValidityChecker * * We still check the path constraints, because not all states sampled by the constrained state space * satisfy the constraints unfortunately. This is a complicated issue. For more details see: - * https://github.com/ros-planning/moveit/issues/2092#issuecomment-669911722. + * https://github.com/moveit/moveit/issues/2092#issuecomment-669911722. **/ class ConstrainedPlanningStateValidityChecker : public StateValidityChecker { diff --git a/moveit_planners/ompl/ompl_interface/test/test_ompl_constraints.cpp b/moveit_planners/ompl/ompl_interface/test/test_ompl_constraints.cpp index fc45d018d3..aa06ac75d1 100644 --- a/moveit_planners/ompl/ompl_interface/test/test_ompl_constraints.cpp +++ b/moveit_planners/ompl/ompl_interface/test/test_ompl_constraints.cpp @@ -252,7 +252,7 @@ class TestOMPLConstraints : public ompl_interface_testing::LoadTestRobot, public // But these issues do not prevent us to use the ConstrainedPlanningStateSpace! :) // The jacobian test is expected to fail because of the discontinuous constraint derivative. // In addition not all samples returned from the state sampler will be valid. - // For more details: https://github.com/ros-planning/moveit/issues/2092#issuecomment-669911722 + // For more details: https://github.com/moveit/moveit/issues/2092#issuecomment-669911722 try { constrained_state_space->sanityChecks(); diff --git a/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp index 87a0d7b275..16ecc3fc63 100644 --- a/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp +++ b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp @@ -46,7 +46,7 @@ * TODO(jeroendm) I also tried something similar with position constraints, but get a segmentation fault * that occurs in the 'geometric_shapes' package, in the method 'useDimensions' in 'bodies.h'. * git permalink: - * https://github.com/ros-planning/geometric_shapes/blob/df0478870b8592ce789ee1919f3124058c4327d7/include/geometric_shapes/bodies.h#L196 + * https://github.com/moveit/geometric_shapes/blob/df0478870b8592ce789ee1919f3124058c4327d7/include/geometric_shapes/bodies.h#L196 * **/ diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml index 7c48ac1629..0e9e7733e3 100644 --- a/moveit_planners/ompl/package.xml +++ b/moveit_planners/ompl/package.xml @@ -2,7 +2,7 @@ moveit_planners_ompl - 2.9.0 + 2.10.0 MoveIt interface to OMPL Henning Kayser Tyler Weaver @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan diff --git a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst index f5f8bb1b56..7fa4535832 100644 --- a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst +++ b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package pilz_industrial_motion_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Add parameter api integration test (`#2662 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml index 09ae1056b9..8d3689d254 100644 --- a/moveit_planners/pilz_industrial_motion_planner/package.xml +++ b/moveit_planners/pilz_industrial_motion_planner/package.xml @@ -2,7 +2,7 @@ pilz_industrial_motion_planner - 2.9.0 + 2.10.0 MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof. Christian Henkel @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 ament_cmake eigen3_cmake_module diff --git a/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp index 2247d9f62d..55127d0334 100644 --- a/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp +++ b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp @@ -118,26 +118,26 @@ std::map::const_iterator JointLimitsContainer::end() co bool JointLimitsContainer::verifyPositionLimit(const std::string& joint_name, double joint_position) const { - return (!(hasLimit(joint_name) && getLimit(joint_name).has_position_limits && - (joint_position < getLimit(joint_name).min_position || joint_position > getLimit(joint_name).max_position))); + return !hasLimit(joint_name) || !getLimit(joint_name).has_position_limits || + (joint_position >= getLimit(joint_name).min_position && joint_position <= getLimit(joint_name).max_position); } bool JointLimitsContainer::verifyVelocityLimit(const std::string& joint_name, double joint_velocity) const { - return (!(hasLimit(joint_name) && getLimit(joint_name).has_velocity_limits && - fabs(joint_velocity) > getLimit(joint_name).max_velocity)); + return !hasLimit(joint_name) || !getLimit(joint_name).has_velocity_limits || + fabs(joint_velocity) <= getLimit(joint_name).max_velocity; } bool JointLimitsContainer::verifyAccelerationLimit(const std::string& joint_name, double joint_acceleration) const { - return (!(hasLimit(joint_name) && getLimit(joint_name).has_acceleration_limits && - fabs(joint_acceleration) > getLimit(joint_name).max_acceleration)); + return !hasLimit(joint_name) || !getLimit(joint_name).has_acceleration_limits || + fabs(joint_acceleration) <= getLimit(joint_name).max_acceleration; } bool JointLimitsContainer::verifyDecelerationLimit(const std::string& joint_name, double joint_acceleration) const { - return (!(hasLimit(joint_name) && getLimit(joint_name).has_deceleration_limits && - fabs(joint_acceleration) > -1.0 * getLimit(joint_name).max_deceleration)); + return !hasLimit(joint_name) || !getLimit(joint_name).has_deceleration_limits || + fabs(joint_acceleration) <= -1.0 * getLimit(joint_name).max_deceleration; } void JointLimitsContainer::updateCommonLimit(const JointLimit& joint_limit, JointLimit& common_limit) diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp index 844fe72de7..5dcfad0cde 100644 --- a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp +++ b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp @@ -301,9 +301,9 @@ bool testutils::checkSLERP(const Eigen::Isometry3d& start_pose, const Eigen::Iso // parallel rotation axis // it is possible the axis opposite is // if the angle is zero, axis is arbitrary - if (!(((start_goal_aa.axis() - start_wp_aa.axis()).norm() < fabs(rot_axis_norm_tolerance)) || - ((start_goal_aa.axis() + start_wp_aa.axis()).norm() < fabs(rot_axis_norm_tolerance)) || - (fabs(start_wp_aa.angle()) < fabs(rot_angle_tolerance)))) + if (((start_goal_aa.axis() - start_wp_aa.axis()).norm() >= fabs(rot_axis_norm_tolerance)) && + ((start_goal_aa.axis() + start_wp_aa.axis()).norm() >= fabs(rot_axis_norm_tolerance)) && + (fabs(start_wp_aa.angle()) >= fabs(rot_angle_tolerance))) { std::cout << "Rotational linearity is violated. \n" << '\n' diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h index 625f70fd23..758c5ecada 100644 --- a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h +++ b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h @@ -477,7 +477,7 @@ checkCartesianRotationalPath(const robot_trajectory::RobotTrajectoryConstPtr& tr inline bool isMonotonouslyDecreasing(const std::vector& vec, double tol) { return std::is_sorted(vec.begin(), vec.end(), [tol](double a, double b) { - return !(std::abs(a - b) < tol || a < b); // true -> a is ordered before b -> list is not sorted + return std::abs(a - b) >= tol && a >= b; // true -> a is ordered before b -> list is not sorted }); } diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst index 3fcb672b95..8c79e3e119 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package pilz_industrial_motion_planner_testutils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml index a22c355ba2..51c65c0758 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml @@ -2,7 +2,7 @@ pilz_industrial_motion_planner_testutils - 2.9.0 + 2.10.0 Helper scripts and functionality to test industrial motion generation Christian Henkel @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 ament_cmake eigen3_cmake_module diff --git a/moveit_planners/stomp/CHANGELOG.rst b/moveit_planners/stomp/CHANGELOG.rst index bc931841ec..832d2956a0 100644 --- a/moveit_planners/stomp/CHANGELOG.rst +++ b/moveit_planners/stomp/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package moveit_planners_stomp ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* missing destination path (`#2668 `_) +* Fix penalty-based cost function in STOMP (`#2625 `_) + * Fix penalty-based cost function in STOMP + This adds several test cases for STOMP's noise generation and cost + functions, and provides the following fixes: + * out-of-bounds vector access when tail states of trajectory are invalid + * smoothed costs overriding values of previous invalid groups + * missing validity check of last state in trajectory + * inability to disable cost function interpolation steps + * total cost of trajectory not summing up to sum of state penalties + * bug in Gaussian producing infinite values with invalid start states + * Improve documentation + --------- +* Contributors: Henning Kayser, Robert Haschke, Sarvajith Adyanthaya, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_planners/stomp/package.xml b/moveit_planners/stomp/package.xml index aefee7703e..4a69a95eb2 100644 --- a/moveit_planners/stomp/package.xml +++ b/moveit_planners/stomp/package.xml @@ -2,13 +2,13 @@ moveit_planners_stomp - 2.9.0 + 2.10.0 STOMP Motion Planner for MoveIt Henning Kayser BSD-3-Clause - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Henning Kayser diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst index d0ded08330..f37ad6ba94 100644 --- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_resources_prbt_ikfast_manipulator_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Do not pass and return simple types by const ref (`#2453 `_) diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml index 55cfbedf10..e912b2f7b3 100644 --- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml +++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml @@ -1,7 +1,7 @@ moveit_resources_prbt_ikfast_manipulator_plugin - 2.9.0 + 2.10.0 The prbt_ikfast_manipulator_plugin package Alexander Gutenkunst Christian Henkel @@ -10,8 +10,8 @@ Apache 2.0 ament_cmake http://moveit.ros.org - https://github.com/ros-planning/moveit-resources/issues - https://github.com/ros-planning/moveit-resources + https://github.com/moveit/moveit-resources/issues + https://github.com/moveit/moveit-resources tf2_geometry_msgs diff --git a/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst b/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst index 8141afdc5a..187e15861e 100644 --- a/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_resources_prbt_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_planners/test_configs/prbt_moveit_config/package.xml b/moveit_planners/test_configs/prbt_moveit_config/package.xml index 848c17573d..453d451405 100644 --- a/moveit_planners/test_configs/prbt_moveit_config/package.xml +++ b/moveit_planners/test_configs/prbt_moveit_config/package.xml @@ -1,6 +1,6 @@ moveit_resources_prbt_moveit_config - 2.9.0 + 2.10.0

MoveIt Resources for testing: Pilz PRBT 6 @@ -17,8 +17,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit-resources/issues - https://github.com/ros-planning/moveit-resources + https://github.com/moveit/moveit-resources/issues + https://github.com/moveit/moveit-resources ament_cmake diff --git a/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst b/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst index 2ef2500719..1084e487cf 100644 --- a/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_resources_prbt_pg70_support ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_planners/test_configs/prbt_pg70_support/package.xml b/moveit_planners/test_configs/prbt_pg70_support/package.xml index 4bbdd0a22e..6f9e82aa2c 100644 --- a/moveit_planners/test_configs/prbt_pg70_support/package.xml +++ b/moveit_planners/test_configs/prbt_pg70_support/package.xml @@ -1,7 +1,7 @@ moveit_resources_prbt_pg70_support - 2.9.0 + 2.10.0 PRBT support for Schunk pg70 gripper. Alexander Gutenkunst @@ -11,8 +11,8 @@ Apache 2.0 http://moveit.ros.org - https://github.com/ros-planning/moveit-resources/issues - https://github.com/ros-planning/moveit-resources + https://github.com/moveit/moveit-resources/issues + https://github.com/moveit/moveit-resources ament_cmake diff --git a/moveit_planners/test_configs/prbt_support/CHANGELOG.rst b/moveit_planners/test_configs/prbt_support/CHANGELOG.rst index 40a72cfa3a..92ee4c29fb 100644 --- a/moveit_planners/test_configs/prbt_support/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_support/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package prbt_support ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_planners/test_configs/prbt_support/package.xml b/moveit_planners/test_configs/prbt_support/package.xml index e5d0a49d44..8cea882e64 100644 --- a/moveit_planners/test_configs/prbt_support/package.xml +++ b/moveit_planners/test_configs/prbt_support/package.xml @@ -1,6 +1,6 @@ moveit_resources_prbt_support - 2.9.0 + 2.10.0 Mechanical, kinematic and visual description of the Pilz light weight arm PRBT. @@ -12,8 +12,8 @@ Apache 2.0 http://moveit.ros.org - https://github.com/ros-planning/moveit-resources/issues - https://github.com/ros-planning/moveit-resources + https://github.com/moveit/moveit-resources/issues + https://github.com/moveit/moveit-resources ament_cmake diff --git a/moveit_plugins/moveit_plugins/CHANGELOG.rst b/moveit_plugins/moveit_plugins/CHANGELOG.rst index fc665eda48..673ff39ab6 100644 --- a/moveit_plugins/moveit_plugins/CHANGELOG.rst +++ b/moveit_plugins/moveit_plugins/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_plugins/moveit_plugins/package.xml b/moveit_plugins/moveit_plugins/package.xml index 0a766a856c..15027970ed 100644 --- a/moveit_plugins/moveit_plugins/package.xml +++ b/moveit_plugins/moveit_plugins/package.xml @@ -2,7 +2,7 @@ moveit_plugins - 2.9.0 + 2.10.0 Metapackage for MoveIt plugins. Henning Kayser diff --git a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst index ce620f18f7..db67aaada4 100644 --- a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst +++ b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package moveit_ros_control_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Revert "Simplify controller manager namespacing (`#2210 `_)" + This reverts commit 55df0bccd5e884649780b4ceeee80891e563b57b. + The deprecated constructor was being used in the same file + for the exact use case of enabling namespaces that are not + specified by the parameter. There is no replacement for + supporting a dynamic server lookup, however the parameter + logic could still use simplification. +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Henning Kayser, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Fix warning and cleanup unneeded placeholders (`#2566 `_) diff --git a/moveit_plugins/moveit_ros_control_interface/package.xml b/moveit_plugins/moveit_ros_control_interface/package.xml index 8f18410dce..e8a28c550f 100644 --- a/moveit_plugins/moveit_ros_control_interface/package.xml +++ b/moveit_plugins/moveit_ros_control_interface/package.xml @@ -2,7 +2,7 @@ moveit_ros_control_interface - 2.9.0 + 2.10.0 ros_control controller manager interface for MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp index 89b5a7bb71..eb7b2e8205 100644 --- a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp +++ b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp @@ -255,8 +255,7 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan * \brief Configure interface with namespace * @param ns namespace of ros_control node (without /controller_manager/) */ - [[deprecated("Ros2ControlManager constructor with namespace is deprecated. Set namespace via the " - "ros_control_namespace parameter.")]] Ros2ControlManager(const std::string& ns) + Ros2ControlManager(const std::string& ns) : ns_(ns), loader_("moveit_ros_control_interface", "moveit_ros_control_interface::ControllerHandleAllocator") { RCLCPP_INFO_STREAM(getLogger(), "Started moveit_ros_control_interface::Ros2ControlManager for namespace " << ns_); @@ -265,12 +264,18 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan void initialize(const rclcpp::Node::SharedPtr& node) override { node_ = node; - // Set the namespace from the ros_control_namespace parameter, or default to "/" - if (!node_->has_parameter("ros_control_namespace")) + if (!ns_.empty()) { - ns_ = node_->declare_parameter("ros_control_namespace", "/"); + if (!node_->has_parameter("ros_control_namespace")) + { + ns_ = node_->declare_parameter("ros_control_namespace", "/"); + } + else + { + node_->get_parameter("ros_control_namespace", ns_); + } } - else + else if (node->has_parameter("ros_control_namespace")) { node_->get_parameter("ros_control_namespace", ns_); RCLCPP_INFO_STREAM(getLogger(), "Namespace for controller manager was specified, namespace: " << ns_); diff --git a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst index 5ab67379be..f94faab05e 100644 --- a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst +++ b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package moveit_simple_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_plugins/moveit_simple_controller_manager/package.xml b/moveit_plugins/moveit_simple_controller_manager/package.xml index e80e46f01c..d11a5cda19 100644 --- a/moveit_plugins/moveit_simple_controller_manager/package.xml +++ b/moveit_plugins/moveit_simple_controller_manager/package.xml @@ -2,7 +2,7 @@ moveit_simple_controller_manager - 2.9.0 + 2.10.0 A generic, simple controller manager plugin for MoveIt. Michael Görner Henning Kayser @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Michael Ferguson diff --git a/moveit_py/CHANGELOG.rst b/moveit_py/CHANGELOG.rst index 6f6ba0fa95..00211b554f 100644 --- a/moveit_py/CHANGELOG.rst +++ b/moveit_py/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package moveit_py ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Get configuration values of traj_exec_man (`#2702 `_) + * (ros_planning) get configuration values of traj_exec_man + * (py) get configuration values of traj_exec_man +* CMake format and lint in pre-commit (`#2683 `_) +* log after rclcpp init +* Contributors: Henning Kayser, Matthijs van der Burgh, Robert Haschke, Sebastian Jahr, Tyler Weaver, peterdavidfagan + 2.9.0 (2024-01-09) ------------------ * [PSM] Process collision object color when adding object trough the planning scene monitor (`#2567 `_) diff --git a/moveit_py/CITATION.cff b/moveit_py/CITATION.cff index ab0a59f44b..61e387555b 100644 --- a/moveit_py/CITATION.cff +++ b/moveit_py/CITATION.cff @@ -5,4 +5,4 @@ authors: date-released: 2023-03-20 message: "If you use this software, please cite it as below." title: "MoveIt 2 Python Library: A Software Library for Robotics Education and Research" -url: "https://github.com/ros-planning/moveit2/tree/main/moveit_py" +url: "https://github.com/moveit/moveit2/tree/main/moveit_py" diff --git a/moveit_py/README.md b/moveit_py/README.md index 8156807910..e903761ee5 100644 --- a/moveit_py/README.md +++ b/moveit_py/README.md @@ -26,7 +26,7 @@ If you use this library in your work please use the following citation: @software{fagan2023moveitpy, author = {Fagan, Peter David}, title = {{MoveIt 2 Python Library: A Software Library for Robotics Education and Research}}, - url = {https://github.com/ros-planning/moveit2/tree/main/moveit_py}, + url = {https://github.com/moveit/moveit2/tree/main/moveit_py}, year = {2023} } ``` diff --git a/moveit_py/package.xml b/moveit_py/package.xml index f20bf5f2a5..cbc800cca0 100644 --- a/moveit_py/package.xml +++ b/moveit_py/package.xml @@ -2,7 +2,7 @@ moveit_py - 2.9.0 + 2.10.0 Python binding for MoveIt 2 Peter David Fagan diff --git a/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h b/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h index e688705898..7ac1497b29 100644 --- a/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h +++ b/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h @@ -38,7 +38,12 @@ #include #include +#pragma GCC diagnostic push +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic ignored "-Wmaybe-uninitialized" +#endif #include +#pragma GCC diagnostic pop #include #include #include diff --git a/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp b/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp index d4e7f7f901..3872d17665 100644 --- a/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp +++ b/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp @@ -153,7 +153,7 @@ void initTrajectoryExecutionManager(py::module& m) )") // ToDo(MatthijsBurgh) - // See https://github.com/ros-planning/moveit2/issues/2442 + // See https://github.com/moveit/moveit2/issues/2442 // get_trajectories .def("execute", py::overload_cast`_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Fix CI for Rolling / Ubuntu Noble (`#2793 `_) + * docker.yaml: Enable caching + * [TEMP] moveit2_rolling.repos: add not yet released packages + * Skip broken ci-testing image: osrf/ros2:testing doesn't contain /opt/ros! + * use boost::timer::progress_display if available + check for header to stay compatible with ubuntu 20.04. + Support boost >= 1.83 + Slightly ugly due to the double alias, but boost::timer was a class + before 1.72, so using `boost::timer::progress_display` in the code + breaks with older versions. + * cherry-pick of `#3547 `_ from MoveIt1 + * Tag ci image as ci-testing as well + --------- + Co-authored-by: Michael Görner + Co-authored-by: Sebastian Jahr + Co-authored-by: Henning Kayser +* Update deprecated include of boost/progress.hpp to boost/timer/progress_display.hpp (`#2811 `_) +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * [Planning Pipeline Refactoring] `#2 `_ Enable chaining planners (`#2457 `_) diff --git a/moveit_ros/benchmarks/README.md b/moveit_ros/benchmarks/README.md index 4823b68253..3201e2cf08 100644 --- a/moveit_ros/benchmarks/README.md +++ b/moveit_ros/benchmarks/README.md @@ -2,4 +2,4 @@ This package provides methods to benchmark motion planning algorithms and aggregate/plot statistics. Results can be viewed in [Planner Arena](http://plannerarena.org/). -For more information and usage example please see [moveit tutorials](https://ros-planning.github.io/moveit_tutorials/doc/benchmarking/benchmarking_tutorial.html). +For more information and usage example please see [moveit tutorials](https://moveit.github.io/moveit_tutorials/doc/benchmarking/benchmarking_tutorial.html). diff --git a/moveit_ros/benchmarks/package.xml b/moveit_ros/benchmarks/package.xml index 71c28e10b1..ce22554a6f 100644 --- a/moveit_ros/benchmarks/package.xml +++ b/moveit_ros/benchmarks/package.xml @@ -2,7 +2,7 @@ moveit_ros_benchmarks - 2.9.0 + 2.10.0 Enhanced tools for benchmarks in MoveIt Henning Kayser Tyler Weaver @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ryan Luna diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp index 50760073fd..252d2a98d6 100644 --- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp +++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp @@ -43,10 +43,21 @@ #include #include -#define BOOST_ALLOW_DEPRECATED_HEADERS #include -#undef BOOST_ALLOW_DEPRECATED_HEADERS + +#if __has_include() #include +using boost_progress_display = boost::timer::progress_display; +#else +// boost < 1.72 +#define BOOST_TIMER_ENABLE_DEPRECATED 1 +#include +#undef BOOST_TIMER_ENABLE_DEPRECATED +using boost_progress_display = boost::progress_display; +#endif + +#include +#include #include #include #include @@ -773,7 +784,7 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::msg::MotionPlanRequest request } num_planners += options.parallel_planning_pipelines.size(); - boost::timer::progress_display progress(num_planners * options.runs, std::cout); + boost_progress_display progress(num_planners * options.runs, std::cout); // Iterate through all planning pipelines auto planning_pipelines = moveit_cpp_->getPlanningPipelines(); diff --git a/moveit_ros/hybrid_planning/CHANGELOG.rst b/moveit_ros/hybrid_planning/CHANGELOG.rst index 8a85416307..291384011e 100644 --- a/moveit_ros/hybrid_planning/CHANGELOG.rst +++ b/moveit_ros/hybrid_planning/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package moveit_hybrid_planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Remove HP error codes interface (`#2774 `_) +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Clean-up hybrid planning package (`#2603 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_ros/hybrid_planning/README.md b/moveit_ros/hybrid_planning/README.md index defb1475c7..e31a4c5cee 100644 --- a/moveit_ros/hybrid_planning/README.md +++ b/moveit_ros/hybrid_planning/README.md @@ -1,5 +1,5 @@ # Hybrid Planning -A Hybrid Planning architecture. You can find more information in the project's issues[#300](https://github.com/ros-planning/moveit2/issues/300), [#433](https://github.com/ros-planning/moveit2/issues/433) and on the [MoveIt 2 roadmap](https://moveit.ros.org/documentation/contributing/roadmap/). Furthermore, there is an extensive tutorial available [here](https://github.com/ros-planning/moveit2_tutorials/pull/97). +A Hybrid Planning architecture. You can find more information in the project's issues[#300](https://github.com/moveit/moveit2/issues/300), [#433](https://github.com/moveit/moveit2/issues/433) and on the [MoveIt 2 roadmap](https://moveit.ros.org/documentation/contributing/roadmap/). Furthermore, there is an extensive tutorial available [here](https://github.com/moveit/moveit2_tutorials/pull/97). ## Getting started To start the demo run: diff --git a/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp b/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp index 77a0462045..ab4bb28c66 100644 --- a/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp +++ b/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp @@ -318,7 +318,7 @@ void LocalPlannerComponent::executeIteration() } // Use a configurable message interface like MoveIt servo - // (See https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/src/servo_calcs.cpp) + // (See https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/src/servo_calcs.cpp) // Format outgoing msg in the right format // (trajectory_msgs/JointTrajectory or joint positions/velocities in form of std_msgs/Float64MultiArray). if (config_->local_solution_topic_type == "trajectory_msgs/JointTrajectory") diff --git a/moveit_ros/hybrid_planning/package.xml b/moveit_ros/hybrid_planning/package.xml index 5b96bca7f4..d61e4be425 100644 --- a/moveit_ros/hybrid_planning/package.xml +++ b/moveit_ros/hybrid_planning/package.xml @@ -1,6 +1,6 @@ moveit_hybrid_planning - 2.9.0 + 2.10.0 Hybrid planning components of MoveIt 2 Sebastian Jahr @@ -9,8 +9,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 ament_cmake moveit_common diff --git a/moveit_ros/move_group/CHANGELOG.rst b/moveit_ros/move_group/CHANGELOG.rst index 33222e381c..198f64aae0 100644 --- a/moveit_ros/move_group/CHANGELOG.rst +++ b/moveit_ros/move_group/CHANGELOG.rst @@ -2,6 +2,27 @@ Changelog for package moveit_ros_move_group ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Remove extraneous error message from URDF service (`#2736 `_) +* Add parameter api integration test (`#2662 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Get robot description from topic in GetUrdfService (`#2681 `_) +* Fix bug in GetUrdfService move_group capability (`#2669 `_) + * Take both possible closings for links into account + * Make CI happy +* avoid a relative jump threshold of 0.0 (`#2654 `_) +* Add get group urdf capability (`#2649 `_) +* Contributors: Abishalini Sivaraman, Ezra Brooks, Mario Prats, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Fix warning and cleanup unneeded placeholders (`#2566 `_) diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index 499c810176..6c4cdc9521 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -95,7 +95,7 @@ pluginlib_export_plugin_description_file( if(BUILD_TESTING) # TODO(henningkayser): enable rostests find_package(rostest REQUIRED) # # rostest under development in ROS2 - # https://github.com/ros-planning/moveit2/issues/23 this test is flaky + # https://github.com/moveit/moveit2/issues/23 this test is flaky # add_rostest(test/test_cancel_before_plan_execution.test) # add_rostest(test/test_check_state_validity_in_empty_scene.test) endif() diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml index ccac01b94f..68cfb989ed 100644 --- a/moveit_ros/move_group/package.xml +++ b/moveit_ros/move_group/package.xml @@ -2,7 +2,7 @@ moveit_ros_move_group - 2.9.0 + 2.10.0 The move_group node for MoveIt Michael Görner Henning Kayser @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta diff --git a/moveit_ros/moveit_ros/CHANGELOG.rst b/moveit_ros/moveit_ros/CHANGELOG.rst index ae0b079857..4df947049d 100644 --- a/moveit_ros/moveit_ros/CHANGELOG.rst +++ b/moveit_ros/moveit_ros/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package moveit_ros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml index 4f550e6f24..358f961e7d 100644 --- a/moveit_ros/moveit_ros/package.xml +++ b/moveit_ros/moveit_ros/package.xml @@ -2,7 +2,7 @@ moveit_ros - 2.9.0 + 2.10.0 Components of MoveIt that use ROS Michael Görner Henning Kayser @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta diff --git a/moveit_ros/moveit_servo/CHANGELOG.rst b/moveit_ros/moveit_servo/CHANGELOG.rst index 191f8398c5..3a6ca13f28 100644 --- a/moveit_ros/moveit_servo/CHANGELOG.rst +++ b/moveit_ros/moveit_servo/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package moveit_servo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* remove intraprocess comm warning (`#2752 `_) +* Fix error message text in servo.cpp (`#2769 `_) +* Fix launch parameters in Servo demos (`#2735 `_) + Co-authored-by: Sebastian Jahr +* [Servo] Fix collision checking with attached objects (`#2747 `_) +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Attempt to use SCHED_FIFO for Servo regardless of RT kernel (`#2653 `_) + * Attempt to use SCHED_FIFO for Servo regardless of RT kernel + * Update warning message if Servo fails to use SCHED_FIFO + Co-authored-by: AndyZe + * Update moveit_ros/moveit_servo/src/servo_node.cpp + Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> + --------- + Co-authored-by: AndyZe + Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> +* Acceleration Limited Smoothing Plugin for Servo (`#2651 `_) +* Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Add command queue to servo to account for latency (`#2594 `_) diff --git a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml index ac3d0eb068..b5d57bfcb9 100644 --- a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml +++ b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml @@ -44,7 +44,7 @@ move_group_name: panda_arm # Often 'manipulator' or 'arm' lower_singularity_threshold: 17.0 # Start decelerating when the condition number hits this (close to singularity) hard_stop_singularity_threshold: 30.0 # Stop when the condition number hits this joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians or meters]. If moving quickly, make this larger. -leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/ros-planning/moveit2/pull/620) +leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/moveit/moveit2/pull/620) ## Topic names cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands diff --git a/moveit_ros/moveit_servo/config/test_config_panda.yaml b/moveit_ros/moveit_servo/config/test_config_panda.yaml index 0698fd846a..5324ce9bf1 100644 --- a/moveit_ros/moveit_servo/config/test_config_panda.yaml +++ b/moveit_ros/moveit_servo/config/test_config_panda.yaml @@ -43,7 +43,7 @@ move_group_name: panda_arm # Often 'manipulator' or 'arm' lower_singularity_threshold: 17.0 # Start decelerating when the condition number hits this (close to singularity) hard_stop_singularity_threshold: 30.0 # Stop when the condition number hits this joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians or meters]. If moving quickly, make this larger. -leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/ros-planning/moveit2/pull/620) +leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/moveit/moveit2/pull/620) ## Topic names cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml index edfc14d0d6..574d89dad8 100644 --- a/moveit_ros/moveit_servo/package.xml +++ b/moveit_ros/moveit_servo/package.xml @@ -2,7 +2,7 @@ moveit_servo - 2.9.0 + 2.10.0 Provides real-time manipulator Cartesian and joint servoing. Blake Anderson Andy Zelenak @@ -11,7 +11,7 @@ BSD-3-Clause - https://ros-planning.github.io/moveit_tutorials + https://moveit.github.io/moveit_tutorials Brian O'Neil Andy Zelenak diff --git a/moveit_ros/moveit_servo/src/collision_monitor.cpp b/moveit_ros/moveit_servo/src/collision_monitor.cpp index 719d0112ec..c3a886cff8 100644 --- a/moveit_ros/moveit_servo/src/collision_monitor.cpp +++ b/moveit_ros/moveit_servo/src/collision_monitor.cpp @@ -106,7 +106,7 @@ void CollisionMonitor::checkCollisions() if (servo_params_.check_collisions) { // Fetch latest robot state using planning scene instead of state monitor due to - // https://github.com/ros-planning/moveit2/issues/2748 + // https://github.com/moveit/moveit2/issues/2748 robot_state_ = planning_scene_monitor_->getPlanningScene()->getCurrentState(); // This must be called before doing collision checking. robot_state_.updateCollisionBodyTransforms(); diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp index ea1512984e..66b0866819 100644 --- a/moveit_ros/moveit_servo/src/utils/common.cpp +++ b/moveit_ros/moveit_servo/src/utils/common.cpp @@ -343,7 +343,7 @@ std::pair velocityScalingFactorForSingularity(const moveit:: const bool moving_towards_singularity = vector_towards_singularity.dot(target_delta_x) > 0; // Compute upper condition variable threshold based on if we are moving towards or away from singularity. - // See https://github.com/ros-planning/moveit2/pull/620#issuecomment-1201418258 for visual explanation. + // See https://github.com/moveit/moveit2/pull/620#issuecomment-1201418258 for visual explanation. double upper_threshold; if (moving_towards_singularity) { diff --git a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst index fb88df21b6..98b1330284 100644 --- a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst +++ b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package moveit_ros_occupancy_map_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Enforce liboctomap-dev by using a cmake version range +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Henning Kayser, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging in moveit_core (`#2503 `_) diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt index f10094d162..b8dd549bcb 100644 --- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt +++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt @@ -13,7 +13,9 @@ find_package(moveit_core REQUIRED) find_package(moveit_msgs REQUIRED) find_package(pluginlib REQUIRED) find_package(Eigen3 REQUIRED) -find_package(octomap REQUIRED) +# Enforce system version liboctomap-dev +# https://github.com/moveit/moveit2/issues/2862 +find_package(octomap 1.9.7...<1.10.0 REQUIRED) find_package(geometric_shapes REQUIRED) find_package(tf2_ros REQUIRED) diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml index d82f4d5e9c..6ba31b2f19 100644 --- a/moveit_ros/occupancy_map_monitor/package.xml +++ b/moveit_ros/occupancy_map_monitor/package.xml @@ -2,7 +2,7 @@ moveit_ros_occupancy_map_monitor - 2.9.0 + 2.10.0 Components of MoveIt connecting to occupancy map Henning Kayser Tyler Weaver @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Jon Binney @@ -26,7 +26,13 @@ rclcpp moveit_core moveit_msgs + pluginlib tf2_ros geometric_shapes diff --git a/moveit_ros/perception/CHANGELOG.rst b/moveit_ros/perception/CHANGELOG.rst index e058f161d3..e347a0bdcd 100644 --- a/moveit_ros/perception/CHANGELOG.rst +++ b/moveit_ros/perception/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package moveit_ros_perception ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Fix segmentation fault in mesh_filter/gl_renderer (`#2834 `_) +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: CihatAltiparmak, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * (moveit_ros) add missing CYLINDER check (`#2640 `_) diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp index 000dc7ff7b..3c2d7d29e3 100644 --- a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp +++ b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp @@ -387,7 +387,7 @@ void mesh_filter::GLRenderer::createGLContext() if (context_it == s_context.end()) { - s_context.at(thread_id) = std::pair(1, 0); + s_context.insert({ thread_id, std::pair(1, 0) }); glutInitWindowPosition(glutGet(GLUT_SCREEN_WIDTH) + 30000, 0); glutInitWindowSize(1, 1); diff --git a/moveit_ros/perception/package.xml b/moveit_ros/perception/package.xml index 8b55305797..a50c122553 100644 --- a/moveit_ros/perception/package.xml +++ b/moveit_ros/perception/package.xml @@ -2,7 +2,7 @@ moveit_ros_perception - 2.9.0 + 2.10.0 Components of MoveIt connecting to perception Henning Kayser Tyler Weaver @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Jon Binney diff --git a/moveit_ros/planning/CHANGELOG.rst b/moveit_ros/planning/CHANGELOG.rst index e4d9da718e..b8b17e2d80 100644 --- a/moveit_ros/planning/CHANGELOG.rst +++ b/moveit_ros/planning/CHANGELOG.rst @@ -2,6 +2,74 @@ Changelog for package moveit_ros_planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Enable mdof trajectory execution (`#2740 `_) + * Add RobotTrajectory conversion from MDOF to joints + * Convert MDOF trajectories to joint trajectories in planning interfaces + * Treat mdof joint variables as common joints in + TrajectoryExecutionManager + * Convert multi-DOF trajectories to joints in TEM + * Revert "Convert MDOF trajectories to joint trajectories in planning interfaces" + This reverts commit 885ee2718594859555b73dc341311a859d31216e. + * Handle multi-DOF variables in TEM's bound checking + * Add parameter to optionally enable multi-dof conversion + * Improve error message about unknown controllers + * Fix name ordering in JointTrajectory conversion + * Improve DEBUG output in TEM + * Comment RobotTrajectory test + * add acceleration to avoid out of bounds read + --------- + Co-authored-by: Paul Gesel + Co-authored-by: Abishalini Sivaraman + Co-authored-by: Ezra Brooks +* Skip flaky PSM launch test (`#2822 `_) +* change default to 1e308 (`#2801 `_) +* PSM: keep references to scene\_ valid upon receiving full scenes (`#2745 `_) + plan_execution-related modules rely on `plan.planning_scene\_` in many places + to point to the currently monitored scene (or a diff on top of it). + Before this patch, if the PSM would receive full scenes during execution, + `plan.planning_scene\_` would not include later incremental updates anymore + because the monitor created a new diff scene. + --------- + Co-authored-by: v4hn +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Print links in collision (`#2727 `_) +* Do not overwrite the error code in planWithSinglePipeline (`#2723 `_) + * Do not overwrite the error code in planWithSinglePipeline + Return the `MotionPlanResponse` as-is. + * Do not rely on generatePlan() to set error code + Do not rely on generatePlan() to set the error code in all cases and + ensure that the error code is set to FAILURE if `generatePlan()` returns + false. + --------- + Co-authored-by: Gaël Écorchard +* Get configuration values of traj_exec_man (`#2702 `_) + * (ros_planning) get configuration values of traj_exec_man + * (py) get configuration values of traj_exec_man + --------- + Co-authored-by: Sebastian Jahr +* Exit earlier on failure in `generatePlan` (`#2726 `_) + With this change, the `PlanningPipeline::generatePlan()` exits as soon + as a failure is detected. Before this, `break` was used to exit the + current loop of request adapters, planners, or response adapters, but + the function continued to the next loop. For example, if a planner would + fail, the response adapters would still be executed. + Co-authored-by: Gaël Écorchard +* srdf publisher node (`#2682 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Get robot description from topic in GetUrdfService (`#2681 `_) +* Shut down PSM publishing before starting to publish on a potentially new topic (`#2680 `_) +* Contributors: Abishalini Sivaraman, Ezra Brooks, Gaël Écorchard, Henning Kayser, Matthijs van der Burgh, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * [PSM] Process collision object color when adding object trough the planning scene monitor (`#2567 `_) diff --git a/moveit_ros/planning/package.xml b/moveit_ros/planning/package.xml index 51aa478867..099dae1d69 100644 --- a/moveit_ros/planning/package.xml +++ b/moveit_ros/planning/package.xml @@ -2,7 +2,7 @@ moveit_ros_planning - 2.9.0 + 2.10.0 Planning components of MoveIt that use ROS Henning Kayser Tyler Weaver @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Sachin Chitta diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp index d7a19e5137..648cd47162 100644 --- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp +++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp @@ -542,7 +542,7 @@ void PlanningSceneMonitor::getMonitoredTopics(std::vector& topics) if (collision_object_subscriber_) { // TODO (anasarrak) This has been changed to subscriber on Moveit, look at - // https://github.com/ros-planning/moveit/pull/1406/files/cb9488312c00e9c8949d89b363766f092330954d#diff-fb6e26ecc9a73d59dbdae3f3e08145e6 + // https://github.com/moveit/moveit/pull/1406/files/cb9488312c00e9c8949d89b363766f092330954d#diff-fb6e26ecc9a73d59dbdae3f3e08145e6 topics.push_back(collision_object_subscriber_->get_topic_name()); } if (planning_scene_world_subscriber_) diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp index da7b7b0537..8a863ef80d 100644 --- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp +++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp @@ -38,6 +38,7 @@ #include #include #include +#include #include #include @@ -166,7 +167,7 @@ void TrajectoryExecutionManager::initialize() rclcpp::NodeOptions opt; opt.allow_undeclared_parameters(true); opt.automatically_declare_parameters_from_overrides(true); - controller_mgr_node_.reset(new rclcpp::Node("moveit_simple_controller_manager", opt)); + controller_mgr_node_ = std::make_shared("moveit_simple_controller_manager", opt); auto all_params = node_->get_node_parameters_interface()->get_parameter_overrides(); for (const auto& param : all_params) @@ -939,12 +940,12 @@ bool TrajectoryExecutionManager::validate(const TrajectoryExecutionContext& cont } std::set joints; - for (std::size_t i = 0, end = joint_names.size(); i < end; ++i) + for (const auto& joint_name : joint_names) { - const moveit::core::JointModel* jm = robot_model_->getJointOfVariable(joint_names[i]); + const moveit::core::JointModel* jm = robot_model_->getJointOfVariable(joint_name); if (!jm) { - RCLCPP_ERROR_STREAM(logger_, "Unknown joint in trajectory: " << joint_names[i]); + RCLCPP_ERROR_STREAM(logger_, "Unknown joint in trajectory: " << joint_name); return false; } diff --git a/moveit_ros/planning_interface/CHANGELOG.rst b/moveit_ros/planning_interface/CHANGELOG.rst index 8e57a03914..e1c2331636 100644 --- a/moveit_ros/planning_interface/CHANGELOG.rst +++ b/moveit_ros/planning_interface/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package moveit_ros_planning_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Add getNodeHandle impl (`#2840 `_) + Co-authored-by: Sebastian Jahr +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* Add parameter api integration test (`#2662 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Remove unused python content from planning interface directory (`#2665 `_) + * Remove unused python content from planning interface directory + * Cleanup test cmake +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver, methylDragon + 2.9.0 (2024-01-09) ------------------ * Update ros2_control usage (`#2620 `_) diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h index 38ec463c9e..f3c7b6f506 100644 --- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h +++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h @@ -164,7 +164,7 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface moveit::core::RobotModelConstPtr getRobotModel() const; /** \brief Get the ROS node handle of this instance operates on */ - rclcpp::Node::SharedPtr getNodeHandle(); + const rclcpp::Node::SharedPtr& getNode() const; /** \brief Get the name of the frame in which the robot is planning */ const std::string& getPlanningFrame() const; diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp index 418dafa301..4f93f72781 100644 --- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp +++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp @@ -2295,6 +2295,11 @@ void MoveGroupInterface::setSupportSurfaceName(const std::string& name) impl_->setSupportSurfaceName(name); } +const rclcpp::Node::SharedPtr& MoveGroupInterface::getNode() const +{ + return impl_->node_; +} + const std::string& MoveGroupInterface::getPlanningFrame() const { return impl_->getRobotModel()->getModelFrame(); diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml index c099db13c9..b42df59a24 100644 --- a/moveit_ros/planning_interface/package.xml +++ b/moveit_ros/planning_interface/package.xml @@ -2,7 +2,7 @@ moveit_ros_planning_interface - 2.9.0 + 2.10.0 Components of MoveIt that offer simpler remote (as from another ROS 2 node) interfaces to planning and execution Henning Kayser Tyler Weaver @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan diff --git a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp index 2e589cf982..a4277f0731 100644 --- a/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp +++ b/moveit_ros/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp @@ -127,8 +127,8 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl bool good = true; for (const geometry_msgs::msg::Pose& mesh_pose : collision_object.mesh_poses) { - if (!(mesh_pose.position.x >= minx && mesh_pose.position.x <= maxx && mesh_pose.position.y >= miny && - mesh_pose.position.y <= maxy && mesh_pose.position.z >= minz && mesh_pose.position.z <= maxz)) + if (mesh_pose.position.x < minx || mesh_pose.position.x > maxx || mesh_pose.position.y < miny || + mesh_pose.position.y > maxy || mesh_pose.position.z < minz || mesh_pose.position.z > maxz) { good = false; break; @@ -136,9 +136,8 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl } for (const geometry_msgs::msg::Pose& primitive_pose : collision_object.primitive_poses) { - if (!(primitive_pose.position.x >= minx && primitive_pose.position.x <= maxx && - primitive_pose.position.y >= miny && primitive_pose.position.y <= maxy && - primitive_pose.position.z >= minz && primitive_pose.position.z <= maxz)) + if (primitive_pose.position.x < minx || primitive_pose.position.x > maxx || primitive_pose.position.y < miny || + primitive_pose.position.y > maxy || primitive_pose.position.z < minz || primitive_pose.position.z > maxz) { good = false; break; diff --git a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp index 429dd9d802..370d2f72df 100644 --- a/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp +++ b/moveit_ros/planning_interface/test/move_group_interface_cpp_test.cpp @@ -36,7 +36,7 @@ /* Author: Tyler Weaver, Boston Cleek */ /* These integration tests are based on the tutorials for using move_group: - * https://ros-planning.github.io/moveit_tutorials/doc/move_group_interface/move_group_interface_tutorial.html + * https://moveit.github.io/moveit_tutorials/doc/move_group_interface/move_group_interface_tutorial.html */ // C++ diff --git a/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp b/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp index faad657180..b866015e00 100644 --- a/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp +++ b/moveit_ros/planning_interface/test/move_group_pick_place_test.cpp @@ -36,7 +36,7 @@ /* Author: Tyler Weaver */ /* These integration tests are based on the tutorials for using move_group to do a pick and place: - * https://ros-planning.github.io/moveit_tutorials/doc/pick_place/pick_place_tutorial.html + * https://moveit.github.io/moveit_tutorials/doc/pick_place/pick_place_tutorial.html */ // C++ diff --git a/moveit_ros/planning_interface/test/subframes_test.cpp b/moveit_ros/planning_interface/test/subframes_test.cpp index f87eab588d..1f07dd30d8 100644 --- a/moveit_ros/planning_interface/test/subframes_test.cpp +++ b/moveit_ros/planning_interface/test/subframes_test.cpp @@ -36,7 +36,7 @@ /* Author: Felix von Drigalski, Jacob Aas, Tyler Weaver, Boston Cleek */ /* This integration test is based on the tutorial for using subframes - * https://ros-planning.github.io/moveit_tutorials/doc/subframes/subframes_tutorial.html + * https://moveit.github.io/moveit_tutorials/doc/subframes/subframes_tutorial.html */ // C++ diff --git a/moveit_ros/robot_interaction/CHANGELOG.rst b/moveit_ros/robot_interaction/CHANGELOG.rst index 5cdfc4a21f..c6ec3927a8 100644 --- a/moveit_ros/robot_interaction/CHANGELOG.rst +++ b/moveit_ros/robot_interaction/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package moveit_ros_robot_interaction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging in moveit_core (`#2503 `_) diff --git a/moveit_ros/robot_interaction/package.xml b/moveit_ros/robot_interaction/package.xml index 7eca45cff8..7f65b1d5da 100644 --- a/moveit_ros/robot_interaction/package.xml +++ b/moveit_ros/robot_interaction/package.xml @@ -2,7 +2,7 @@ moveit_ros_robot_interaction - 2.9.0 + 2.10.0 Components of MoveIt that offer interaction via interactive markers Henning Kayser Tyler Weaver @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan diff --git a/moveit_ros/tests/CHANGELOG.rst b/moveit_ros/tests/CHANGELOG.rst new file mode 100644 index 0000000000..8bd12d34ee --- /dev/null +++ b/moveit_ros/tests/CHANGELOG.rst @@ -0,0 +1,95 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_ros_tests +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Add parameter api integration test (`#2662 `_) +* Contributors: Robert Haschke, Sebastian Jahr + +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Add parameter api integration test (`#2662 `_) +* Contributors: Robert Haschke, Sebastian Jahr + +2.9.0 (2024-01-09) +------------------ + +2.8.0 (2023-09-10) +------------------ + +2.7.4 (2023-05-18) +------------------ + +2.7.3 (2023-04-24) +------------------ + +2.7.2 (2023-04-18) +------------------ + +2.7.1 (2023-03-23) +------------------ + +2.7.0 (2023-02-09) +------------------ + +2.6.0 (2022-11-10) +------------------ + +2.5.3 (2022-07-28) +------------------ + +2.5.2 (2022-07-18) +------------------ + +2.5.1 (2022-05-31) +------------------ + +2.5.0 (2022-05-26) +------------------ + +2.4.0 (2022-01-20) +------------------ + +2.3.2 (2021-12-29) +------------------ + +2.3.1 (2021-12-23) +------------------ + +2.3.0 (2021-10-08) +------------------ + +2.2.1 (2021-07-12) +------------------ + +2.2.0 (2021-06-30) +------------------ + +2.1.4 (2021-05-31) +------------------ + +2.1.3 (2021-05-22) +------------------ + +2.1.2 (2021-04-22) +------------------ + +2.1.1 (2021-04-13) +------------------ + +2.1.0 (2020-11-24) +------------------ + +2.0.0 (2020-05-13) +------------------ diff --git a/moveit_ros/tests/package.xml b/moveit_ros/tests/package.xml index d7914c34ff..22ed52fd25 100644 --- a/moveit_ros/tests/package.xml +++ b/moveit_ros/tests/package.xml @@ -2,15 +2,15 @@ moveit_ros_tests - 2.9.0 + 2.10.0 Integration tests for moveit_ros MoveIt Release Team BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Sebastian Jahr diff --git a/moveit_ros/visualization/CHANGELOG.rst b/moveit_ros/visualization/CHANGELOG.rst index 82b78629d7..8c78a7cebf 100644 --- a/moveit_ros/visualization/CHANGELOG.rst +++ b/moveit_ros/visualization/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package moveit_ros_visualization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Henning Kayser, Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml index 31df0e7855..02dd337091 100644 --- a/moveit_ros/visualization/package.xml +++ b/moveit_ros/visualization/package.xml @@ -2,7 +2,7 @@ moveit_ros_visualization - 2.9.0 + 2.10.0 Components of MoveIt that offer visualization Henning Kayser Tyler Weaver @@ -12,8 +12,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan Dave Coleman diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp index 5a36c4d082..393d11bc9e 100755 --- a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp +++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp @@ -159,7 +159,6 @@ void OcTreeRender::octreeDecoding(const std::shared_ptr& unsigned int render_mode_mask = static_cast(octree_voxel_rendering); - size_t point_count = 0; { int step_size = 1 << (octree->getTreeDepth() - octree_depth_); // for pruning of occluded voxels @@ -242,8 +241,6 @@ void OcTreeRender::octreeDecoding(const std::shared_ptr& // push to point vectors unsigned int depth = it.getDepth(); point_buf[depth - 1].push_back(new_point); - - ++point_count; } } } diff --git a/moveit_ros/warehouse/CHANGELOG.rst b/moveit_ros/warehouse/CHANGELOG.rst index 97c3089c07..b1f2a11e8d 100644 --- a/moveit_ros/warehouse/CHANGELOG.rst +++ b/moveit_ros/warehouse/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package moveit_ros_warehouse ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging in moveit_core (`#2503 `_) diff --git a/moveit_ros/warehouse/package.xml b/moveit_ros/warehouse/package.xml index 4c651855d3..cfa7c01280 100644 --- a/moveit_ros/warehouse/package.xml +++ b/moveit_ros/warehouse/package.xml @@ -2,7 +2,7 @@ moveit_ros_warehouse - 2.9.0 + 2.10.0 Components of MoveIt connecting to MongoDB Henning Kayser Tyler Weaver @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 Ioan Sucan diff --git a/moveit_runtime/CHANGELOG.rst b/moveit_runtime/CHANGELOG.rst index 44763724b5..cfebbed03f 100644 --- a/moveit_runtime/CHANGELOG.rst +++ b/moveit_runtime/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_runtime ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_runtime/package.xml b/moveit_runtime/package.xml index de22a93d61..284fa34b3b 100644 --- a/moveit_runtime/package.xml +++ b/moveit_runtime/package.xml @@ -2,7 +2,7 @@ moveit_runtime - 2.9.0 + 2.10.0 moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots). Henning Kayser Tyler Weaver diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst index 114d6518df..80e1b4e7ce 100644 --- a/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_setup_app_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/package.xml b/moveit_setup_assistant/moveit_setup_app_plugins/package.xml index d5eaab8e17..b8c0a99c7e 100644 --- a/moveit_setup_assistant/moveit_setup_app_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_app_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_app_plugins - 2.9.0 + 2.10.0 Various specialty plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst index aebe136c1b..6cc4daffe4 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package moveit_setup_assistant ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Add dependency on moveit_configs_utils to moveit_setup_assistant (`#2832 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Tyler Weaver, hacker1024 + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_assistant/package.xml b/moveit_setup_assistant/moveit_setup_assistant/package.xml index 855cbf4d40..568f05a51e 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/package.xml +++ b/moveit_setup_assistant/moveit_setup_assistant/package.xml @@ -2,7 +2,7 @@ moveit_setup_assistant - 2.9.0 + 2.10.0 Generates a configuration package that makes it easy to use MoveIt Henning Kayser Tyler Weaver @@ -13,8 +13,8 @@ BSD-3-Clause http://moveit.ros.org - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 David V. Lu!! Dave Coleman @@ -27,10 +27,11 @@ rclcpp moveit_setup_framework moveit_setup_srdf_plugins + moveit_configs_utils moveit_setup_controllers moveit_setup_core_plugins moveit_setup_app_plugins - + moveit_resources_panda_moveit_config diff --git a/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst index c0cb6578c4..24d4f3b6f4 100644 --- a/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package moveit_setup_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Add allow_nonzero_velocity_at_trajectory_end parameter to exported ros2_controllers config file (`#2751 `_) +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Sebastian Castro, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_controllers/package.xml b/moveit_setup_assistant/moveit_setup_controllers/package.xml index dce5bf8ec2..3750ab43e7 100644 --- a/moveit_setup_assistant/moveit_setup_controllers/package.xml +++ b/moveit_setup_assistant/moveit_setup_controllers/package.xml @@ -2,7 +2,7 @@ moveit_setup_controllers - 2.9.0 + 2.10.0 MoveIt Setup Steps for ROS 2 Control David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst index 857f51d475..86200f7e22 100644 --- a/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_setup_core_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2 diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/package.xml b/moveit_setup_assistant/moveit_setup_core_plugins/package.xml index f37a3fc550..ab74738daf 100644 --- a/moveit_setup_assistant/moveit_setup_core_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_core_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_core_plugins - 2.9.0 + 2.10.0 Core (meta) plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst index f35fa66657..e9a38a5aa2 100644 --- a/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package moveit_setup_framework ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Migrate ros-planning org to moveit (`#2847 `_) + * Rename github.com/ros-planning -> github.com/moveit + * Rename ros-planning.github.io -> moveit.github.io + * Rename ros-planning organization in docker and CI workflow files + - ghcr.io/ros-planning -> ghcr.io/moveit + - github.repository == 'moveit/*'' +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp index 4b3fae3440..c5ad29cbf0 100644 --- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp +++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp @@ -118,6 +118,7 @@ class SRDFConfig : public SetupConfig std::vector getGroupNames() const { std::vector group_names; + group_names.reserve(srdf_.groups_.size()); for (const srdf::Model::Group& group : srdf_.groups_) { group_names.push_back(group.name_); diff --git a/moveit_setup_assistant/moveit_setup_framework/package.xml b/moveit_setup_assistant/moveit_setup_framework/package.xml index 38d31afa00..6afe337eb4 100644 --- a/moveit_setup_assistant/moveit_setup_framework/package.xml +++ b/moveit_setup_assistant/moveit_setup_framework/package.xml @@ -2,7 +2,7 @@ moveit_setup_framework - 2.9.0 + 2.10.0 C++ Interface for defining setup steps for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_framework/templates/package.xml.template b/moveit_setup_assistant/moveit_setup_framework/templates/package.xml.template index b27a9fa44f..dc647a10ce 100644 --- a/moveit_setup_assistant/moveit_setup_framework/templates/package.xml.template +++ b/moveit_setup_assistant/moveit_setup_framework/templates/package.xml.template @@ -11,8 +11,8 @@ BSD-3-Clause http://moveit.ros.org/ - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 + https://github.com/moveit/moveit2/issues + https://github.com/moveit/moveit2 [AUTHOR_NAME] diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst index 429b72e3ee..5d6d002716 100644 --- a/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package moveit_setup_srdf_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.10.0 (2024-06-13) +------------------- +* Apply clang-tidy fixes +* Unify log names (`#2720 `_) + Co-authored-by: Abishalini Sivaraman +* CMake format and lint in pre-commit (`#2683 `_) +* Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver + 2.9.0 (2024-01-09) ------------------ * Node logging for the rest of MoveIt (`#2599 `_) diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml b/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml index b987c5bce6..67afec1f4f 100644 --- a/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_srdf_plugins - 2.9.0 + 2.10.0 SRDF-based plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp b/moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp index e6564a876c..9fb5b65d1b 100644 --- a/moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp +++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp @@ -260,8 +260,8 @@ void SortFilterProxyModel::setShowAll(bool show_all) bool SortFilterProxyModel::filterAcceptsRow(int source_row, const QModelIndex& source_parent) const { CollisionLinearModel* m = qobject_cast(sourceModel()); - if (!(show_all_ || m->reason(source_row) <= ALWAYS || - m->data(m->index(source_row, 2), Qt::CheckStateRole) == Qt::Checked)) + if (!show_all_ && m->reason(source_row) > ALWAYS && + m->data(m->index(source_row, 2), Qt::CheckStateRole) != Qt::Checked) return false; // not accepted due to check state const QRegExp regexp = filterRegExp();