Merge branch 'master' into master

.clang-tidy

@@ -7,6 +7,10 @@ Checks:          '-*,
                   modernize-use-default,
                   modernize-use-override,
                   modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  modernize-avoid-bind,
+                  misc-unused-parameters,
                   readability-named-parameter,
                   readability-redundant-smartptr-get,
                   readability-redundant-string-cstr,
@@ -21,6 +25,8 @@ CheckOptions:
     value:           '10'
   - key:             llvm-namespace-comment.SpacesBeforeComments
     value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
   - key:             readability-braces-around-statements.ShortStatementLines
     value:           '2'
   # type names

.docker/ci-testing/Dockerfile

@@ -0,0 +1,16 @@
+# moveit/moveit:noetic-ci-testing
+# Sets up a base image to use for running Continuous Integration on Travis
+
+ARG IMAGE=noetic
+FROM moveit/moveit:${IMAGE}-ci
+MAINTAINER Robert Haschke [email protected]
+
+# Switch to ros-testing
+RUN echo "deb http://packages.ros.org/ros-testing/ubuntu `lsb_release -cs` main" | tee /etc/apt/sources.list.d/ros1-latest.list
+
+# Upgrade packages to ros-testing and clean apt-cache within one RUN command
+RUN apt-get -qq update && \
+    apt-get -qq -y dist-upgrade && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/*

.docker/ci/Dockerfile

@@ -1,42 +1,52 @@
 # moveit/moveit:noetic-ci
 # Sets up a base image to use for running Continuous Integration on Travis
 
-FROM ros:noetic-ros-base
+ARG ROS_DISTRO=noetic
+FROM ros:${ROS_DISTRO}-ros-base
 MAINTAINER Dave Coleman [email protected]
 
 ENV TERM xterm
 
 # Setup (temporary) ROS workspace
 WORKDIR /root/ws_moveit
 
+# Copy MoveIt sources from docker context
+COPY . src/moveit
+
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
+    # Download ROS keys: https://github.com/osrf/docker_images/issues/697#issuecomment-1819626877
+    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA && \
     # Update apt package list as previous containers clear the cache
-    apt-get -qq update && \
-    apt-get -qq dist-upgrade && \
+    apt-get -q update && \
+    apt-get -q -y dist-upgrade && \
     #
     # Install some base dependencies
-    apt-get -qq install --no-install-recommends -y \
+    apt-get -q install --no-install-recommends -y \
         # Some basic requirements
         wget git sudo \
         # Preferred build tools
-        python3-catkin-tools python3-osrf-pycommon \
+        python$(test "${ROS_DISTRO}" = "noetic" && echo 3)-catkin-tools \
         clang clang-format-10 clang-tidy clang-tools \
         ccache && \
     #
-    # Download MoveIt source, so that we can fetch all necessary dependencies
-    wstool init --shallow src https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
+    # Download MoveIt sources, so that we can fetch all necessary dependencies
+    wstool init --shallow src src/moveit/.github/workflows/upstream.rosinstall && \
+    git clone --depth 1 --branch master https://github.com/ros-planning/moveit_resources src/moveit_resources && \
     #
     # Download all dependencies of MoveIt
-    rosdep update && \
+    rosdep update $(test "${ROS_DISTRO}" = "melodic" && echo "--include-eol-distros") && \
     DEBIAN_FRONTEND=noninteractive \
     rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
     # Remove the source code from this container
     rm -rf src && \
     #
     # Clear apt-cache to reduce image size
-    rm -rf /var/lib/apt/lists/*
+    rm -rf /var/lib/apt/lists/* && \
+    # Globally disable git security
+    # https://github.blog/2022-04-12-git-security-vulnerability-announced
+    git config --global --add safe.directory "*"
 
 # Continous Integration Setting
 ENV IN_DOCKER 1

.docker/release/Dockerfile

@@ -1,10 +1,11 @@
-# moveit/moveit:melodic-release
 # Full debian-based install of MoveIt using apt-get
 
-FROM ros:noetic-ros-base
+ARG ROS_DISTRO=noetic
+FROM ros:${ROS_DISTRO}-ros-base
 MAINTAINER Dave Coleman [email protected]
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
-RUN apt-get update && \
+RUN apt-get update -q && \
+    apt-get dist-upgrade -q -y && \
     apt-get install -y ros-${ROS_DISTRO}-moveit-* && \
     rm -rf /var/lib/apt/lists/*

.docker/source/Dockerfile

@@ -1,34 +1,36 @@
+# syntax = docker/dockerfile:1.3
+
 # moveit/moveit:noetic-source
 # Downloads the moveit source code and install remaining debian dependencies
 
-FROM moveit/moveit:noetic-ci-shadow-fixed
-MAINTAINER Dave Coleman [email protected]
+ARG IMAGE=noetic
+FROM moveit/moveit:${IMAGE}-ci-testing
+MAINTAINER Robert Haschke [email protected]
 
+ENV PYTHONIOENCODING UTF-8
+# Export ROS_UNDERLAY for downstream docker containers
 ENV ROS_UNDERLAY /root/ws_moveit/install
-WORKDIR $ROS_UNDERLAY/../src
+# Environment variable used in instructions on moveit.ros.org website for running clang-tidy
+ENV CATKIN_WS $(realpath $ROS_UNDERLAY/..)
+WORKDIR $ROS_UNDERLAY/..
+
+# Copy MoveIt sources from docker context
+COPY . src/moveit
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
-RUN \
-    # Download moveit source so that we can get necessary dependencies
-    wstool init . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
-    #
-    # Update apt package list as cache is cleared in previous container
-    # Usually upgrading involves a few packages only (if container builds became out-of-sync)
-    apt-get -qq update && \
-    apt-get -qq dist-upgrade && \
+RUN --mount=type=cache,target=/root/.ccache/ \
+    # Enable ccache
+    PATH=/usr/lib/ccache:$PATH && \
+    # Fetch required upstream sources for building
+    wstool init --shallow src src/moveit/.github/workflows/upstream.rosinstall && \
+    git clone --depth 1 --branch master https://github.com/ros-planning/moveit_resources src/moveit_resources && \
     #
-    rosdep update && \
-    rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
-    rm -rf /var/lib/apt/lists/*
-
-ENV PYTHONIOENCODING UTF-8
-RUN cd .. && \
     catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON && \
     # Status rate is limited so that just enough info is shown to keep Docker from timing out,
     # but not too much such that the Docker log gets too long (another form of timeout)
-    catkin build --limit-status-rate 0.001 --no-notify
-
-# Environment variable used in instructions on moveit.ros.org website for running clang-tidy
-ENV CATKIN_WS /root/ws_moveit
-
+    catkin build --limit-status-rate 0.001 --no-notify && \
+    ccache -s && \
+    #
+    # Update /ros_entrypoint.sh to source our new workspace
+    sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh

.dockerignore

@@ -0,0 +1,37 @@
+# ignore everything
+*
+# but include these:
+!.github/workflows/upstream.rosinstall
+!**/package.xml
+!**/CATKIN_IGNORE
+
+# https://github.com/moby/moby/issues/42788
+!moveit_plugins/moveit_plugins/package.xml
+!moveit_plugins/moveit_ros_control_interface/package.xml
+!moveit_plugins/moveit_simple_controller_manager/package.xml
+!moveit_plugins/moveit_fake_controller_manager/package.xml
+!moveit_kinematics/package.xml
+!moveit_setup_assistant/package.xml
+!moveit_core/package.xml
+!moveit_commander/package.xml
+!moveit_planners/ompl/package.xml
+!moveit_planners/chomp/chomp_motion_planner/package.xml
+!moveit_planners/chomp/chomp_interface/package.xml
+!moveit_planners/chomp/chomp_optimizer_adapter/package.xml
+!moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
+!moveit_planners/pilz_industrial_motion_planner/package.xml
+!moveit_planners/moveit_planners/package.xml
+!moveit_runtime/package.xml
+!moveit/package.xml
+!moveit_ros/warehouse/package.xml
+!moveit_ros/moveit_servo/package.xml
+!moveit_ros/occupancy_map_monitor/package.xml
+!moveit_ros/perception/package.xml
+!moveit_ros/move_group/package.xml
+!moveit_ros/robot_interaction/package.xml
+!moveit_ros/visualization/package.xml
+!moveit_ros/manipulation/package.xml
+!moveit_ros/planning/package.xml
+!moveit_ros/planning_interface/package.xml
+!moveit_ros/benchmarks/package.xml
+!moveit_ros/moveit_ros/package.xml

.github/ISSUE_TEMPLATE/first_timers_only.md → .github/ISSUE_TEMPLATE/first_timer_only.md

@@ -1,8 +1,8 @@
 ---
-name: First Timers Only Issue
+name: First Timer Only Issue
 about: Create an issue to welcome a new contributor into the community.
 title: ''
-labels: first-timers-only
+labels: first-timer-only
 assignees: ''
 
 ---
@@ -57,6 +57,9 @@ $DIFF
 ### 🤔❓ Questions?
 
 Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
+
+💬️ - You can even ping us by using an `@mention` in the comments.
+
 Furthermore, you find helpful resources here:
 * [MoveIt FAQ](https://moveit.ros.org/documentation/faqs/)
 * [MoveIt Tutorials](https://ros-planning.github.io/moveit_tutorials/)

.github/dependabot.yml

@@ -0,0 +1,17 @@
+version: 2
+updates:
+  # Maintain dependencies for GitHub Actions
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    commit-message:
+      prefix: "🛠️"
+    ignore:
+      # Official actions have moving tags like v1, v2, ... They don't need updates to specific versions
+      - dependency-name: "actions/checkout"
+      - dependency-name: "actions/setup-python"
+      - dependency-name: "actions/cache"
+      - dependency-name: "actions/upload-artifact"
+      - dependency-name: "actions/download-artifact"
+      - dependency-name: "actions/labeler"

.github/robostack_env.yaml

@@ -0,0 +1,20 @@
+name: test
+channels:
+  - robostack
+  - conda-forge
+dependencies:
+  - compilers
+  - ninja
+  - cmake
+  - catkin_pkg
+  - pkg-config
+  - rosdep
+  - rosdistro
+  - ros-distro-mutex 0.1 noetic
+  - ros-noetic-catkin
+  - ros-noetic-ros-environment
+  - orocos-kdl 1.5.0
+  - python-orocos-kdl 1.5.0
+  - openssl 1.1.1*
+  # we need the static library of this build
+  - tinyxml2 9.0.0 *_1