From fa010a8b63436cb6d0a2075554ff03088c442d9c Mon Sep 17 00:00:00 2001 From: mosfet80 Date: Fri, 9 Aug 2024 07:17:46 +0200 Subject: [PATCH] Update format.yml fix ament_target_deprecation fix ament_target_dependencies deprecation Update CMakeLists.txt Update CMakeLists.txt Update planning_scene_ros_api_tutorial.cpp Update CMakeLists.txt Update doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp Co-authored-by: AndyZe Update CMakeLists.txt Update CMakeLists.txt Upgrade GitHub Actions to version 6 Downgrade actions/cache from v6 to v5 Update URL for list of robots running MoveIt Update setup-python action to version 6 Update blog post link in OMPL tutorial Update installation instructions for MoveIt version Update image link and fix tutorial blog post URL Update Dockerfile Upgrade GitHub Actions to latest versions Update format.yml Upgrade checkout action to version 7 Update pre-commit hooks to version 6.0.0 --- .docker/Dockerfile | 2 +- .github/workflows/ci.yaml | 8 ++--- .github/workflows/deploy.yml | 6 ++-- .github/workflows/format.yml | 19 +++++----- .pre-commit-config.yaml | 2 +- CMakeLists.txt | 15 ++++---- .../bullet_collision_checker/CMakeLists.txt | 6 ---- .../collision_environments/CMakeLists.txt | 3 +- .../lerp_motion_planner/CMakeLists.txt | 35 +------------------ doc/examples/examples.rst | 2 +- doc/examples/interactivity/CMakeLists.txt | 19 ---------- .../motion_planning_api/CMakeLists.txt | 12 +++++-- .../motion_planning_pipeline/CMakeLists.txt | 10 ++++-- .../motion_planning_python_api/CMakeLists.txt | 4 +++ .../move_group_interface/CMakeLists.txt | 8 +++-- doc/examples/moveit_cpp/CMakeLists.txt | 6 +++- .../ompl_interface_tutorial.rst | 2 +- .../planning_adapters_tutorial.rst | 2 +- doc/examples/planning_scene/CMakeLists.txt | 3 +- .../planning_scene_ros_api/CMakeLists.txt | 9 +++-- doc/examples/realtime_servo/CMakeLists.txt | 13 ++++++- .../src/pose_tracking_tutorial.cpp | 2 +- .../CMakeLists.txt | 3 +- doc/examples/state_display/CMakeLists.txt | 2 +- doc/examples/subframes/CMakeLists.txt | 2 +- doc/examples/tests/CMakeLists.txt | 2 +- .../visualizing_collisions/CMakeLists.txt | 8 ----- .../kinematics_cost_function/CMakeLists.txt | 9 +++-- .../parallel_planning/CMakeLists.txt | 7 +++- .../CMakeLists.txt | 11 ++++-- .../trajectory_cache/CMakeLists.txt | 11 +++++- .../CMakeLists.txt | 8 +++-- .../CMakeLists.txt | 18 ++++++++-- .../quickstart_in_rviz/CMakeLists.txt | 5 ++- .../quickstart_in_rviz/test/bringup_test.cpp | 1 - .../visualizing_in_rviz.rst | 4 +-- index.rst | 4 +-- 37 files changed, 151 insertions(+), 132 deletions(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index e1362f930a..81e793544c 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -61,7 +61,7 @@ RUN --mount=type=cache,target=/root/.ccache/ \ # Enable ccache . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\ . "install/setup.sh" &&\ - sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \ + sudo apt update && rosdep update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \ colcon build \ --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index e8db9daea9..4bc15977c0 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -36,11 +36,11 @@ jobs: name: ${{ matrix.env.IMAGE }} runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 with: fetch-depth: 0 - name: cache upstream_ws - uses: actions/cache@v4 + uses: actions/cache@v6 with: save-always: true path: ${{ env.BASEDIR }}/upstream_ws @@ -50,7 +50,7 @@ jobs: # 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_ws - uses: actions/cache@v4 + uses: actions/cache@v6 with: save-always: true path: ${{ env.BASEDIR }}/target_ws @@ -58,7 +58,7 @@ jobs: restore-keys: | target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }} - name: cache ccache - uses: actions/cache@v4 + uses: actions/cache@v6 with: save-always: true path: ${{ env.CCACHE_DIR }} diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml index 96777f2236..fefd0e1cc3 100644 --- a/.github/workflows/deploy.yml +++ b/.github/workflows/deploy.yml @@ -19,7 +19,7 @@ jobs: container: image: moveit/moveit2:rolling-source steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install Python dependencies shell: bash @@ -59,7 +59,7 @@ jobs: container: image: ${{ matrix.container }} steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v6 - name: Install Python dependencies shell: bash @@ -94,7 +94,7 @@ jobs: runs-on: ubuntu-latest needs: upload_site_artifacts steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 with: fetch-depth: 0 diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml index ab27e81765..ab8949d2ef 100644 --- a/.github/workflows/format.yml +++ b/.github/workflows/format.yml @@ -1,28 +1,31 @@ # This is a format job. Pre-commit has a first-party GitHub action, so we use # that: https://github.com/pre-commit/action -name: Format +name: Formatting (pre-commit) on: workflow_dispatch: pull_request: + merge_group: push: branches: - main - - humble - -permissions: - contents: read # to fetch code (actions/checkout) jobs: pre-commit: name: Format - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - - uses: actions/checkout@v4 - - uses: actions/setup-python@v5 + - uses: actions/checkout@v7 + - uses: actions/setup-python@v6 with: python-version: '3.10' - name: Install clang-format-14 run: sudo apt-get install clang-format-14 - uses: pre-commit/action@v3.0.1 + id: precommit + - name: Upload pre-commit changes + if: failure() && steps.precommit.outcome == 'failure' + uses: rhaschke/upload-git-patch-action@main + with: + name: pre-commit diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 566d5c8132..eead74f81c 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -15,7 +15,7 @@ repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v5.0.0 + rev: v6.0.0 hooks: - id: check-added-large-files - id: check-case-conflict diff --git a/CMakeLists.txt b/CMakeLists.txt index 5ee2731168..e1dcc0352a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,6 +3,8 @@ project(moveit2_tutorials) # Common cmake code applied to all moveit packages find_package(moveit_common REQUIRED) +find_package(OpenSSL REQUIRED) + moveit_package() set(THIS_PACKAGE_INCLUDE_DIRS @@ -20,14 +22,14 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS moveit_ros_planning moveit_ros_planning_interface moveit_ros_trajectory_cache - moveit_servo - moveit_task_constructor_core - moveit_visual_tools + # moveit_servo + # moveit_task_constructor_core + # moveit_visual_tools pluginlib rclcpp rclcpp_action - rviz_visual_tools - tf2_geometry_msgs +# rviz_visual_tools +# tf2_geometry_msgs tf2_geometry_msgs tf2_ros warehouse_ros_sqlite @@ -77,9 +79,6 @@ add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor) add_subdirectory(doc/tutorials/quickstart_in_rviz) add_subdirectory(doc/how_to_guides/pick_ik) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) ament_export_include_directories(include) diff --git a/doc/examples/bullet_collision_checker/CMakeLists.txt b/doc/examples/bullet_collision_checker/CMakeLists.txt index 0b6832d299..0ea33beb4f 100644 --- a/doc/examples/bullet_collision_checker/CMakeLists.txt +++ b/doc/examples/bullet_collision_checker/CMakeLists.txt @@ -4,10 +4,4 @@ add_executable(bullet_collision_checker_tutorial target_link_libraries(bullet_collision_checker_tutorial ${interactive_markers_LIBRARIES} interactivity_utils - ${catkin_LIBRARIES} ${Boost_LIBRARIES}) - -install(TARGETS bullet_collision_checker_tutorial - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/doc/examples/collision_environments/CMakeLists.txt b/doc/examples/collision_environments/CMakeLists.txt index b92c24adce..06d65dbc14 100644 --- a/doc/examples/collision_environments/CMakeLists.txt +++ b/doc/examples/collision_environments/CMakeLists.txt @@ -2,8 +2,7 @@ add_executable(collision_scene_example src/collision_scene_example.cpp) target_include_directories(collision_scene_example PUBLIC include) -ament_target_dependencies(collision_scene_example - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(collision_scene_example PUBLIC rclcpp::rclcpp moveit_ros_planning_interface::moveit_move_group_interface) install(TARGETS collision_scene_example ARCHIVE DESTINATION lib diff --git a/doc/examples/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt b/doc/examples/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt index 9a274b9d25..39c076a903 100644 --- a/doc/examples/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt +++ b/doc/examples/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt @@ -1,13 +1,11 @@ include_directories(include) include_directories( SYSTEM - ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ) add_executable(lerp_example src/lerp_example.cpp) target_link_libraries(lerp_example - ${catkin_LIBRARIES} ${Boost_LIBRARIES} ) @@ -17,39 +15,8 @@ add_library(moveit_lerp_planner_plugin src/lerp_interface.cpp src/lerp_planning_context.cpp) set_target_properties(moveit_lerp_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -target_link_libraries(moveit_lerp_planner_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(moveit_lerp_planner_plugin ${Boost_LIBRARIES}) ############# ## Install ## ############# - -# Mark executables and/or libraries for installation -install( - TARGETS - moveit_lerp_planner_plugin - ARCHIVE DESTINATION - ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION - ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION - ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -# Mark cpp header files for installation -install( - DIRECTORY - include - DESTINATION - ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) - -# Mark roslaunch files for installation -install( - DIRECTORY - launch - DESTINATION - ${CATKIN_PACKAGE_SHARE_DESTINATION} -) -#catkin_lint ignore uninstalled_plugin -install(FILES lerp_interface_plugin_description.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/doc/creating_moveit_plugins/lerp_motion_planner/) diff --git a/doc/examples/examples.rst b/doc/examples/examples.rst index 7f68fe8b2c..334317cde1 100644 --- a/doc/examples/examples.rst +++ b/doc/examples/examples.rst @@ -51,7 +51,7 @@ The MoveIt Python API binds a subset of the C++ API. The Python API is useful fo Integration with a New Robot ---------------------------- -Before attempting to integrate a new robot with MoveIt 2, check whether your robot has already been set up (see the `list of robots running MoveIt `_). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt. +Before attempting to integrate a new robot with MoveIt 2, check whether your robot has already been set up (see the `list of robots running MoveIt `_). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt. .. toctree:: :maxdepth: 1 diff --git a/doc/examples/interactivity/CMakeLists.txt b/doc/examples/interactivity/CMakeLists.txt index 06542c775a..f143f20bad 100644 --- a/doc/examples/interactivity/CMakeLists.txt +++ b/doc/examples/interactivity/CMakeLists.txt @@ -6,25 +6,6 @@ add_library(${INTERACTIVITY_LIB_NAME} src/pose_string.cpp ) -# add_executable(interactivity_tutorial - # src/interactivity_tutorial.cpp - # src/interactive_robot.cpp - # src/imarker.cpp - # src/pose_string.cpp -# ) -# target_link_libraries(interactivity_tutorial - # ${catkin_LIBRARIES} - # ${Boost_LIBRARIES} - # ${interactive_markers_LIBRARIES} -# ) -# -# add_executable(attached_body_tutorial - # src/attached_body_tutorial.cpp - # src/interactive_robot.cpp - # src/imarker.cpp - # src/pose_string.cpp -# ) - target_link_libraries( ${INTERACTIVITY_LIB_NAME} ${catkin_LIBRARIES} diff --git a/doc/examples/motion_planning_api/CMakeLists.txt b/doc/examples/motion_planning_api/CMakeLists.txt index 602e0aef03..9357b1fe50 100644 --- a/doc/examples/motion_planning_api/CMakeLists.txt +++ b/doc/examples/motion_planning_api/CMakeLists.txt @@ -1,9 +1,17 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_msgs REQUIRED) +find_package(moveit_ros_planning REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) add_executable(motion_planning_api_tutorial src/motion_planning_api_tutorial.cpp) target_include_directories(motion_planning_api_tutorial PUBLIC include) -ament_target_dependencies(motion_planning_api_tutorial - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(motion_planning_api_tutorial PUBLIC +${graph_msgs_TARGETS} +pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader moveit_visual_tools::moveit_visual_tools +moveit_ros_planning_interface::moveit_move_group_interface +) install(TARGETS motion_planning_api_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/motion_planning_pipeline/CMakeLists.txt b/doc/examples/motion_planning_pipeline/CMakeLists.txt index cf944450f6..1ff9b45c7c 100644 --- a/doc/examples/motion_planning_pipeline/CMakeLists.txt +++ b/doc/examples/motion_planning_pipeline/CMakeLists.txt @@ -1,9 +1,15 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) + add_executable(motion_planning_pipeline_tutorial src/motion_planning_pipeline_tutorial.cpp) target_include_directories(motion_planning_pipeline_tutorial PUBLIC include) -ament_target_dependencies(motion_planning_pipeline_tutorial - ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(motion_planning_pipeline_tutorial PUBLIC +${graph_msgs_TARGETS} +pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader +moveit_visual_tools::moveit_visual_tools rviz_visual_tools::rviz_visual_tools) install(TARGETS motion_planning_pipeline_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/motion_planning_python_api/CMakeLists.txt b/doc/examples/motion_planning_python_api/CMakeLists.txt index c36feb47a9..6f3f795b0a 100644 --- a/doc/examples/motion_planning_python_api/CMakeLists.txt +++ b/doc/examples/motion_planning_python_api/CMakeLists.txt @@ -1,3 +1,7 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) + install(PROGRAMS scripts/motion_planning_python_api_tutorial.py scripts/motion_planning_python_api_planning_scene.py diff --git a/doc/examples/move_group_interface/CMakeLists.txt b/doc/examples/move_group_interface/CMakeLists.txt index b4e2c9128f..b6f392bca2 100644 --- a/doc/examples/move_group_interface/CMakeLists.txt +++ b/doc/examples/move_group_interface/CMakeLists.txt @@ -1,9 +1,13 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) + add_executable(move_group_interface_tutorial src/move_group_interface_tutorial.cpp) target_include_directories(move_group_interface_tutorial PUBLIC include) -ament_target_dependencies(move_group_interface_tutorial - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(move_group_interface_tutorial PUBLIC moveit_ros_move_group::moveit_move_group_capabilities_base +moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools) install(TARGETS move_group_interface_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/moveit_cpp/CMakeLists.txt b/doc/examples/moveit_cpp/CMakeLists.txt index 7f317918eb..af34851365 100644 --- a/doc/examples/moveit_cpp/CMakeLists.txt +++ b/doc/examples/moveit_cpp/CMakeLists.txt @@ -1,6 +1,10 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) + add_executable(moveit_cpp_tutorial src/moveit_cpp_tutorial.cpp) target_include_directories(moveit_cpp_tutorial PUBLIC include) -ament_target_dependencies(moveit_cpp_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(moveit_cpp_tutorial PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_cpp moveit_visual_tools::moveit_visual_tools) install(TARGETS moveit_cpp_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/ompl_interface/ompl_interface_tutorial.rst b/doc/examples/ompl_interface/ompl_interface_tutorial.rst index 0a39044da5..163e049767 100644 --- a/doc/examples/ompl_interface/ompl_interface_tutorial.rst +++ b/doc/examples/ompl_interface/ompl_interface_tutorial.rst @@ -133,7 +133,7 @@ You can adjust the amount of time MoveIt spends on smoothing by increasing the p Although not currently exposed at the top levels of MoveIt (TODO), more smoothing can be accomplished by setting the simplification duration to 0 (unlimited) in ``model_based_planning_context.cpp``. This will enable OMPL's ``simplifyMax()`` function. -Besides the internal OMPL smoothers, recent efforts have been made to do post-proccessing with STOMP/CHOMP. See `this blog post `_. +Besides the internal OMPL smoothers, recent efforts have been made to do post-proccessing with STOMP/CHOMP. See `this blog post `_. Persistent Roadmaps ------------------- diff --git a/doc/examples/planning_adapters/planning_adapters_tutorial.rst b/doc/examples/planning_adapters/planning_adapters_tutorial.rst index 6155ba1f6d..084f0e2637 100644 --- a/doc/examples/planning_adapters/planning_adapters_tutorial.rst +++ b/doc/examples/planning_adapters/planning_adapters_tutorial.rst @@ -26,7 +26,7 @@ As you add and remove packages from your workspace you will need to clean your w cd ~/ws_moveit/src catkin clean -Now follow the instructions on the MoveIt homepage for `installing MoveIt Melodic from source `_. Note that you can skip the **Prerequisites** section since you should already have a Catkin workspace. +Now follow the instructions on the MoveIt homepage for `installing MoveIt Humble/jazzy/rolling from source `_. Note that you can skip the **Prerequisites** section since you should already have a Catkin workspace. Re-source the setup files: :: diff --git a/doc/examples/planning_scene/CMakeLists.txt b/doc/examples/planning_scene/CMakeLists.txt index 33cda665fa..1b0a6f7e7a 100644 --- a/doc/examples/planning_scene/CMakeLists.txt +++ b/doc/examples/planning_scene/CMakeLists.txt @@ -2,8 +2,7 @@ add_executable(planning_scene_tutorial src/planning_scene_tutorial.cpp) target_include_directories(planning_scene_tutorial PUBLIC include) -ament_target_dependencies(planning_scene_tutorial - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(planning_scene_tutorial PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_robot_model_loader) install(TARGETS planning_scene_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/planning_scene_ros_api/CMakeLists.txt b/doc/examples/planning_scene_ros_api/CMakeLists.txt index bcaee07178..941fcc7f56 100644 --- a/doc/examples/planning_scene_ros_api/CMakeLists.txt +++ b/doc/examples/planning_scene_ros_api/CMakeLists.txt @@ -1,9 +1,14 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) + add_executable(planning_scene_ros_api_tutorial src/planning_scene_ros_api_tutorial.cpp) target_include_directories(planning_scene_ros_api_tutorial PUBLIC include) -ament_target_dependencies(planning_scene_ros_api_tutorial - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) + +target_link_libraries(planning_scene_ros_api_tutorial PRIVATE rclcpp::rclcpp moveit_msgs::moveit_msgs__rosidl_typesupport_cpp rviz_visual_tools::rviz_visual_tools + moveit_core::moveit_planning_scene moveit_ros_planning::moveit_robot_model_loader ${geometry_msgs_TARGETS} moveit_visual_tools::moveit_visual_tools) install(TARGETS planning_scene_ros_api_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/realtime_servo/CMakeLists.txt b/doc/examples/realtime_servo/CMakeLists.txt index a33cf18998..d4e9bc70e7 100644 --- a/doc/examples/realtime_servo/CMakeLists.txt +++ b/doc/examples/realtime_servo/CMakeLists.txt @@ -1,6 +1,17 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_ros_planning REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(moveit_ros_planning REQUIRED) +find_package(moveit_servo REQUIRED) +find_package(rviz_visual_tools REQUIRED) + add_executable(pose_tracking_tutorial src/pose_tracking_tutorial.cpp) target_include_directories(pose_tracking_tutorial PUBLIC include) -ament_target_dependencies(pose_tracking_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(pose_tracking_tutorial PUBLIC + ${graph_msgs_TARGETS} ${moveit_servo_TARGETS} tf2_eigen::tf2_eigen + moveit_ros_planning::moveit_planning_scene_monitor + rviz_visual_tools::rviz_visual_tools +) install( TARGETS diff --git a/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp b/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp index d0692e9ced..ddd91721d3 100644 --- a/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp +++ b/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp @@ -119,7 +119,7 @@ class Door rclcpp::Node::SharedPtr node_; Eigen::Vector3d hinge_, center_, dims_; - double angle_, step_, rotation_radius_; + double angle_, rotation_radius_; rclcpp::Publisher::SharedPtr collision_object_publisher_; moveit_msgs::msg::CollisionObject collision_object_; shape_msgs::msg::SolidPrimitive door_primitive_; diff --git a/doc/examples/robot_model_and_robot_state/CMakeLists.txt b/doc/examples/robot_model_and_robot_state/CMakeLists.txt index f4f85b787e..98508fdca0 100644 --- a/doc/examples/robot_model_and_robot_state/CMakeLists.txt +++ b/doc/examples/robot_model_and_robot_state/CMakeLists.txt @@ -2,8 +2,7 @@ add_executable(robot_model_and_robot_state_tutorial src/robot_model_and_robot_state_tutorial.cpp) target_include_directories(robot_model_and_robot_state_tutorial PUBLIC include) -ament_target_dependencies(robot_model_and_robot_state_tutorial - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(robot_model_and_robot_state_tutorial PUBLIC moveit_ros_planning::moveit_robot_model_loader) install(TARGETS robot_model_and_robot_state_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/state_display/CMakeLists.txt b/doc/examples/state_display/CMakeLists.txt index 267e105729..2871f5fe57 100644 --- a/doc/examples/state_display/CMakeLists.txt +++ b/doc/examples/state_display/CMakeLists.txt @@ -1,5 +1,5 @@ add_executable(state_display_tutorial src/state_display_tutorial.cpp) -target_link_libraries(state_display_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(state_display_tutorial ${Boost_LIBRARIES}) install(TARGETS state_display_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/doc/examples/subframes/CMakeLists.txt b/doc/examples/subframes/CMakeLists.txt index 50d29ac6ad..c29044e44e 100644 --- a/doc/examples/subframes/CMakeLists.txt +++ b/doc/examples/subframes/CMakeLists.txt @@ -1,3 +1,3 @@ add_executable(subframes_tutorial src/subframes_tutorial.cpp) -target_link_libraries(subframes_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(subframes_tutorial ${Boost_LIBRARIES}) install(TARGETS subframes_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/doc/examples/tests/CMakeLists.txt b/doc/examples/tests/CMakeLists.txt index 968aa40f21..a9c0e420d2 100644 --- a/doc/examples/tests/CMakeLists.txt +++ b/doc/examples/tests/CMakeLists.txt @@ -1,5 +1,5 @@ if(CATKIN_ENABLE_TESTING) catkin_add_gtest(tests_tutorial test/tests.cpp) target_link_libraries(tests_tutorial - ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + ${Boost_LIBRARIES}) endif() diff --git a/doc/examples/visualizing_collisions/CMakeLists.txt b/doc/examples/visualizing_collisions/CMakeLists.txt index 8015ea5df4..22cab831c3 100644 --- a/doc/examples/visualizing_collisions/CMakeLists.txt +++ b/doc/examples/visualizing_collisions/CMakeLists.txt @@ -5,13 +5,5 @@ add_executable(visualizing_collisions_tutorial target_link_libraries(visualizing_collisions_tutorial ${interactive_markers_LIBRARIES} interactivity_utils - ${catkin_LIBRARIES} ${Boost_LIBRARIES} ) - -install( - TARGETS - visualizing_collisions_tutorial - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt b/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt index 53ba3080bf..8cc48fb348 100644 --- a/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt +++ b/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt @@ -1,9 +1,14 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) + add_executable(kinematics_cost_function_tutorial src/kinematics_cost_function_tutorial.cpp) target_include_directories(kinematics_cost_function_tutorial PUBLIC include) -ament_target_dependencies(kinematics_cost_function_tutorial - ${THIS_PACKAGE_INCLUDE_DEPENDS}) + +target_link_libraries(kinematics_cost_function_tutorial PUBLIC moveit_ros_move_group::moveit_move_group_capabilities_base +moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools) install(TARGETS kinematics_cost_function_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/how_to_guides/parallel_planning/CMakeLists.txt b/doc/how_to_guides/parallel_planning/CMakeLists.txt index 3078bbdd72..140de5f75f 100644 --- a/doc/how_to_guides/parallel_planning/CMakeLists.txt +++ b/doc/how_to_guides/parallel_planning/CMakeLists.txt @@ -1,6 +1,11 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) +find_package(OpenSSL REQUIRED) + add_executable(parallel_planning_example src/parallel_planning_main.cpp) target_include_directories(parallel_planning_example PRIVATE include) -ament_target_dependencies(parallel_planning_example ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(parallel_planning_example PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_cpp moveit_visual_tools::moveit_visual_tools moveit_ros_warehouse::moveit_warehouse) install(TARGETS parallel_planning_example DESTINATION lib/${PROJECT_NAME} diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt b/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt index 5973acf864..9da90a5a6f 100644 --- a/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt +++ b/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt @@ -1,14 +1,19 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_task_constructor_core REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) + add_executable(pilz_move_group src/pilz_move_group.cpp) target_include_directories(pilz_move_group PUBLIC include) -ament_target_dependencies(pilz_move_group ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(pilz_move_group PUBLIC ${moveit_task_constructor_core_TARGETS} rclcpp::rclcpp rclcpp_action::rclcpp_action moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools) add_executable(pilz_mtc src/pilz_mtc.cpp) target_include_directories(pilz_mtc PUBLIC include) -ament_target_dependencies(pilz_mtc ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(pilz_mtc PUBLIC rclcpp::rclcpp rclcpp_action::rclcpp_action moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools ${moveit_task_constructor_core_TARGETS}) add_executable(pilz_sequence src/pilz_sequence.cpp) target_include_directories(pilz_sequence PUBLIC include) -ament_target_dependencies(pilz_sequence ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(pilz_sequence PUBLIC rclcpp::rclcpp rclcpp_action::rclcpp_action moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools) install( TARGETS diff --git a/doc/how_to_guides/trajectory_cache/CMakeLists.txt b/doc/how_to_guides/trajectory_cache/CMakeLists.txt index 3d3dc093b0..f0a5f7413b 100644 --- a/doc/how_to_guides/trajectory_cache/CMakeLists.txt +++ b/doc/how_to_guides/trajectory_cache/CMakeLists.txt @@ -1,5 +1,14 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) +find_package(OpenSSL REQUIRED) + add_executable(trajectory_cache_demo src/trajectory_cache_demo.cpp) -ament_target_dependencies(trajectory_cache_demo ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost moveit_ros_trajectory_cache) +target_link_libraries(trajectory_cache_demo PUBLIC moveit_ros_planning_interface::moveit_move_group_interface + +moveit_ros_trajectory_cache::moveit_ros_trajectory_cache_utils_lib moveit_ros_trajectory_cache::moveit_ros_trajectory_cache_features_lib moveit_ros_trajectory_cache::moveit_ros_trajectory_cache_cache_insert_policies_lib moveit_ros_trajectory_cache::moveit_ros_trajectory_cache_lib + +moveit_visual_tools::moveit_visual_tools) install(TARGETS trajectory_cache_demo DESTINATION lib/${PROJECT_NAME}) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) diff --git a/doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt b/doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt index 080fec44ff..e0ea909beb 100644 --- a/doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt +++ b/doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt @@ -1,9 +1,13 @@ +find_package(graph_msgs REQUIRED) +find_package(moveit_visual_tools REQUIRED) +find_package(rviz_visual_tools REQUIRED) add_executable(ompl_constrained_planning src/ompl_constrained_planning_tutorial.cpp) target_include_directories(ompl_constrained_planning PUBLIC include) -ament_target_dependencies(ompl_constrained_planning - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(ompl_constrained_planning PUBLIC +${graph_msgs_TARGETS} +moveit_ros_move_group::moveit_move_group_capabilities_base moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools ) install(TARGETS ompl_constrained_planning DESTINATION lib/${PROJECT_NAME} diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt b/doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt index 9fd9a56713..38ddf3316f 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt @@ -1,8 +1,22 @@ +find_package(moveit_ros_planning REQUIRED) +find_package(moveit_core REQUIRED) +find_package(moveit_task_constructor_core REQUIRED) + add_executable(mtc_tutorial src/mtc_node.cpp) -ament_target_dependencies(mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS}) + target_link_libraries(mtc_tutorial PUBLIC rclcpp::rclcpp moveit_core::moveit_planning_interface moveit_core::moveit_planning_scene + moveit_ros_planning::moveit_planning_pipeline + moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + moveit_ros_planning_interface::moveit_move_group_interface + ${moveit_task_constructor_core_TARGETS}) add_executable(minimal_mtc_tutorial src/minimal.cpp) -ament_target_dependencies(minimal_mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS}) + target_link_libraries(minimal_mtc_tutorial PUBLIC rclcpp::rclcpp moveit_core::moveit_planning_interface moveit_core::moveit_planning_scene + moveit_ros_planning::moveit_planning_pipeline + moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + moveit_ros_planning_interface::moveit_move_group_interface + ${moveit_task_constructor_core_TARGETS}) install(TARGETS mtc_tutorial minimal_mtc_tutorial ARCHIVE DESTINATION lib diff --git a/doc/tutorials/quickstart_in_rviz/CMakeLists.txt b/doc/tutorials/quickstart_in_rviz/CMakeLists.txt index a18e04161c..fe32b7366e 100644 --- a/doc/tutorials/quickstart_in_rviz/CMakeLists.txt +++ b/doc/tutorials/quickstart_in_rviz/CMakeLists.txt @@ -4,15 +4,18 @@ if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) find_package(ament_cmake_gtest REQUIRED) find_package(ros_testing REQUIRED) + find_package(control_msgs REQUIRED) find_package(Boost REQUIRED COMPONENTS filesystem) # Run all lint tests in package.xml ament_lint_auto_find_test_dependencies() + # Basic "quickstart_in_rviz" bringup test ament_add_gtest_executable(bringup_test test/bringup_test.cpp ) - ament_target_dependencies(bringup_test ${THIS_PACKAGE_INCLUDE_DEPENDS}) + target_link_libraries(bringup_test ${control_msgs_TARGETS} ${moveit_msgs_TARGETS} + rclcpp::rclcpp rclcpp_action::rclcpp_action) add_ros_test(test/bringup_test.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") endif() diff --git a/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp b/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp index 3597c8e06e..ca5889c04f 100644 --- a/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp +++ b/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp @@ -5,7 +5,6 @@ #include #include -#include #include #include #include diff --git a/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst b/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst index 9081c99a91..ce6f444200 100644 --- a/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst +++ b/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst @@ -27,11 +27,11 @@ Then in your ``CMakeLists.txt`` add this line to the section of ``find_package`` find_package(moveit_visual_tools REQUIRED) -Further down in the file extend the ``ament_target_dependencies`` macro call to include the new dependency like this: +Further down in the file extend the ``target_link_libraries`` macro call to include the new dependency like this: .. code-block:: cmake - ament_target_dependencies( + target_link_libraries( hello_moveit "moveit_ros_planning_interface" "moveit_visual_tools" diff --git a/index.rst b/index.rst index 411fe56d98..f9d515c4e6 100644 --- a/index.rst +++ b/index.rst @@ -6,7 +6,7 @@ Welcome to the unified MoveIt documentation, which includes tutorials, how-to gu MoveIt 2 is the robotic manipulation platform for ROS 2 and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see `MoveIt 1 tutorials `_. For the commercially supported version see `MoveIt Pro tutorials `_. -.. image:: http://moveit.ros.org/assets/images/roadmap.png +.. image:: https://moveit.ai/assets/logo/moveit_logo-white.png :width: 400px How-To Use This Website @@ -42,5 +42,5 @@ Help us improve these docs and we'll be happy to include you here also! Corporate Sponsorship --------------------- -* The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with `PickNik Robotics `_ (`Check out the blog post! `_) +* The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with `PickNik Robotics `_ (`Check out the blog post! `_) * The tutorials had another major update in 2022 during a doc-a-thon sponsored by `PickNik Robotics `_.