Merge master into rework-python-api

.clang-tidy

@@ -9,6 +9,7 @@ Checks:          '-*,
                   modernize-loop-convert,
                   modernize-make-shared,
                   modernize-make-unique,
+                  modernize-avoid-bind,
                   misc-unused-parameters,
                   readability-named-parameter,
                   readability-redundant-smartptr-get,

.docker/ci-testing/Dockerfile

@@ -1,16 +1,16 @@
-# moveit/moveit:noetic-ci-shadow-fixed
+# 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-shadow-fixed
-RUN echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main" | tee /etc/apt/sources.list.d/ros-latest.list
+# 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-shadow-fixed and clean apt-cache within one RUN command
+# Upgrade packages to ros-testing and clean apt-cache within one RUN command
 RUN apt-get -qq update && \
-    apt-get -qq dist-upgrade && \
+    apt-get -qq -y dist-upgrade && \
     #
     # Clear apt-cache to reduce image size
     rm -rf /var/lib/apt/lists/*

.docker/ci/Dockerfile

@@ -41,7 +41,10 @@ RUN \
     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

.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/workflows/ci.yaml

@@ -10,6 +10,9 @@ on:
     branches:
       - master
 
+permissions:
+  contents: read # to fetch code (actions/checkout)
+
 jobs:
   default:
     strategy:
@@ -19,7 +22,7 @@ jobs:
           - IMAGE: noetic-ci
             CCOV: true
             BUILDER: catkin_tools_devel
-          - IMAGE: noetic-ci-shadow-fixed
+          - IMAGE: noetic-ci-testing
             IKFAST_TEST: true
             CATKIN_LINT: true
             CLANG_TIDY: pedantic
@@ -59,7 +62,7 @@ jobs:
       CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
 
     name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
       - name: "Free up disk space"
         if: matrix.env.CCOV
@@ -75,43 +78,47 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Cache upstream workspace
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: upstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.github/workflows/ci.yaml') }}
       - name: Cache downstream workspace
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/downstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: downstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/workflows/downstream.rosinstall', '.github/workflows/ci.yaml') }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: Cache target workspace
         if: "!matrix.env.CCOV"
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
 
       - name: Generate ikfast packages
@@ -123,7 +130,7 @@ jobs:
         env: ${{ matrix.env }}
 
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.env.IMAGE }}
@@ -136,7 +143,7 @@ jobs:
           workdir: ${{ env.BASEDIR }}/target_ws
           ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
-        uses: codecov/codecov-action@v2
+        uses: codecov/codecov-action@v3
         if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info
@@ -151,16 +158,18 @@ jobs:
         run: |
           du -sh ${{ env.BASEDIR }}/target_ws
           sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src ${{ env.BASEDIR }}/target_ws/logs
           du -sh ${{ env.BASEDIR }}/target_ws
 
   # Sync noetic-devel branch with master on successful build
   sync-noetic-devel:
     runs-on: ubuntu-latest
     needs: default # only trigger on success of default build job
     if: github.event_name == 'push' && github.repository_owner == 'ros-planning' && github.ref == 'refs/heads/master'
+    permissions:
+      contents: write # allow pushing
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fast-forward noetic-devel to sync with master
         run: |
           # Configure push user+url

.github/workflows/docker.yaml

@@ -32,17 +32,17 @@ jobs:
           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 "::set-output name=no_cache::$have_updates"
+            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v2
         if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
       - name: Login to Container Registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v3
         if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
         with:
           file: .docker/${{ github.job }}/Dockerfile
@@ -76,17 +76,17 @@ jobs:
           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 "::set-output name=no_cache::$have_updates"
+            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v2
         if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
       - name: Login to Container Registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v3
         if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
         with:
           file: .docker/${{ github.job }}/Dockerfile
@@ -120,17 +120,17 @@ jobs:
           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 "::set-output name=no_cache::$have_updates"
+            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v2
         if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
       - name: Login to Container Registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v3
         if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
         with:
           file: .docker/${{ github.job }}/Dockerfile
@@ -157,18 +157,18 @@ jobs:
       IMAGE: moveit/moveit:${{ matrix.IMAGE }}-${{ github.job }}
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v2
       - name: Login to Container Registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: "Remove .dockerignore"
         run: rm .dockerignore  # enforce full source context
       - name: Build and Push
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v3
         with:
           context: .
           file: .docker/${{ github.job }}/Dockerfile

.github/workflows/downstream.rosinstall

@@ -13,4 +13,4 @@
 - git:
     local-name: panda_moveit_config
     uri: https://github.com/ros-planning/panda_moveit_config.git
-    version: melodic-devel
+    version: noetic-devel

.github/workflows/format.yaml

@@ -8,17 +8,19 @@ on:
   pull_request:
   push:
 
+permissions:
+  contents: read # to fetch code (actions/checkout)
+
 jobs:
   pre-commit:
     name: pre-commit
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - uses: actions/checkout@v3
       - name: Install clang-format-10
         run: sudo apt-get install clang-format-10
       - uses: rhaschke/[email protected]
-      - uses: pre-commit/action@v2.0.3
+      - uses: pre-commit/action@v3.0.0
         id: precommit
       - name: Upload pre-commit changes
         if: failure() && steps.precommit.outcome == 'failure'

.github/workflows/prerelease.yaml

@@ -6,6 +6,9 @@ name: pre-release
 on:
   workflow_dispatch:
 
+permissions:
+  contents: read # to fetch code (actions/checkout)
+
 jobs:
   default:
     strategy:
@@ -32,6 +35,6 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master

.github/workflows/robostack.yaml

@@ -18,10 +18,10 @@ jobs:
         os: [ubuntu-latest, macos-latest, windows-latest]
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Set up Build Dependencies
-      uses: mamba-org/provision-with-micromamba@v11
+      uses: mamba-org/provision-with-micromamba@v14
       with:
         environment-file: .github/robostack_env.yaml
         micromamba-version: 0.17.0

.github/workflows/upstream.rosinstall

@@ -6,3 +6,7 @@
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git
     version: noetic-devel
+- git:
+    local-name: srdfdom
+    uri: https://github.com/ros-planning/srdfdom
+    version: noetic-devel

.pre-commit-config.yaml

@@ -28,7 +28,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 20.8b1
+    rev: 22.3.0
     hooks:
       - id: black
 

MIGRATION.md

@@ -30,6 +30,10 @@ API changes in MoveIt releases
 - In case you start RViz in a namespace, the default topic for the trajectory visualization display now uses the relative instead of the absolute namespace (i.e. `<ns>/move_group/display_planned_path` instead of `/move_group/display_planned_path`).
 - `RobotState::attachBody()` now takes a unique_ptr instead of an owning raw pointer.
 - Moved the class `MoveItErrorCode` from both `moveit_ros_planning` and `moveit_ros_planning_interface` to `moveit_core`. The class now is in namespace `moveit::core`, access via `moveit::planning_interface` or `moveit_cpp::PlanningComponent` is deprecated.
+- End-effector markers in rviz are shown only if the eef's parent group is active _and_ the parent link is part of that group. Before, these conditions were _OR_-connected.
+  You might need to define additional end-effectors.
+- Removed `ConstraintSampler::project()` as there was no real difference to `sample()`.
+- Removed `TrajectoryExecutionManager::pushAndExecute()` and the code associated to it. The code was unused and broken.
 - Thoroughly reworked Python API
   - Migrated C++ wrapper to pybind11, renaming libs to pymoveit_*.so
   - Moved `py_bindings_tools` from `moveit_ros_planning_interface` to `moveit_core`

README.md

@@ -1,6 +1,6 @@
 <img src="https://moveit.ros.org/assets/logo/moveit_logo-black.png" alt="MoveIt Logo" width="200"/>
 
-**The MoveIt Motion Planning Framework**
+The [MoveIt Motion Planning Framework for ROS](http://moveit.ros.org). For the ROS 2 repository see [MoveIt 2](https://github.com/ros-planning/moveit2).
 
 *Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.*
 
@@ -14,7 +14,7 @@
 - We develop latest features on `master`.
 - The `*-devel` branches correspond to released and stable versions of MoveIt for specific distributions of ROS. `noetic-devel` is synced to `master` currently.
 - Bug fixes occasionally get backported to these released versions of MoveIt.
-- For MoveIt 2 development, see [moveit2](https://github.com/ros-planning/moveit2).
+- To facilitate compile-time switching, the patch version of `MOVEIT_VERSION` of a development branch will be incremented by 1 w.r.t. the package.xml's version number.
 
 ## MoveIt Status
 

moveit.rosinstall

@@ -12,6 +12,10 @@
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git
     version: noetic-devel
+- git:
+    local-name: srdfdom
+    uri: https://github.com/ros-planning/srdfdom
+    version: noetic-devel
 - git:
     local-name: moveit
     uri: https://github.com/ros-planning/moveit.git
@@ -31,4 +35,4 @@
 - git:
     local-name: panda_moveit_config
     uri: https://github.com/ros-planning/panda_moveit_config.git
-    version: melodic-devel
+    version: noetic-devel