From 948d61ee862452ba48cab62598ce9c8ca978bb59 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Fri, 16 Feb 2024 22:06:00 +0530 Subject: [PATCH 01/16] Update compare_collision_speed_checking_fcl_bullet.cpp Fixes #852 --- ...re_collision_speed_checking_fcl_bullet.cpp | 44 +++++++++---------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp index 1aa98f230d..e5b58ce3df 100644 --- a/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp +++ b/moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp @@ -46,13 +46,13 @@ static const std::string ROBOT_DESCRIPTION = "robot_description"; -/** \brief Factor to compute the maximum number of trials random clutter generation. */ +// \brief Factor to compute the maximum number of trials random clutter generation. static const int MAX_SEARCH_FACTOR_CLUTTER = 3; -/** \brief Factor to compute the maximum number of trials for random state generation. */ +// \brief Factor to compute the maximum number of trials for random state generation. static const int MAX_SEARCH_FACTOR_STATES = 30; -/** \brief Defines a random robot state. */ +// \brief Defines a random robot state. enum class RobotStateSelector { IN_COLLISION, @@ -60,26 +60,26 @@ enum class RobotStateSelector RANDOM, }; -/** \brief Enumerates the available collision detectors. */ +// \brief Enumerates the available collision detectors. enum class CollisionDetector { FCL, BULLET, }; -/** \brief Enumerates the different types of collision objects. */ +// \brief Enumerates the different types of collision objects. enum class CollisionObjectType { MESH, BOX, }; -/** \brief Clutters the world of the planning scene with random objects in a certain area around the origin. All added - * objects are not in collision with the robot. - * - * \param planning_scene The planning scene - * \param num_objects The number of objects to be cluttered - * \param CollisionObjectType Type of object to clutter (mesh or box) */ +// \brief Clutters the world of the planning scene with random objects in a certain area around the origin. All added +// objects are not in collision with the robot. +// +// \param planning_scene The planning scene +// \param num_objects The number of objects to be cluttered +// \param CollisionObjectType Type of object to clutter (mesh or box) void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const size_t num_objects, CollisionObjectType type) { @@ -164,12 +164,12 @@ void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const ROS_INFO_STREAM("Cluttered the planning scene with " << added_objects << " objects"); } -/** \brief Runs a collision detection benchmark and measures the time. - * - * \param trials The number of repeated collision checks for each state - * \param scene The planning scene - * \param CollisionDetector The type of collision detector - * \param only_self Flag for only self collision check performed */ +// \brief Runs a collision detection benchmark and measures the time. +// +// \param trials The number of repeated collision checks for each state +// \param scene The planning scene +// \param CollisionDetector The type of collision detector +// \param only_self Flag for only self collision check performed void runCollisionDetection(unsigned int trials, const planning_scene::PlanningScenePtr& scene, const std::vector& states, const CollisionDetector col_detector, bool only_self, bool distance = false) @@ -242,11 +242,11 @@ void runCollisionDetection(unsigned int trials, const planning_scene::PlanningSc scene->setCurrentState(states.back()); } -/** \brief Samples valid states of the robot which can be in collision if desired. - * \param desired_states Specifier for type for desired state - * \param num_states Number of desired states - * \param scene The planning scene - * \param robot_states Result vector */ +//\brief Samples valid states of the robot which can be in collision if desired. +//\param desired_states Specifier for type for desired state +//\param num_states Number of desired states +//\param scene The planning scene +//\param robot_states Result vector void findStates(const RobotStateSelector desired_states, unsigned int num_states, const planning_scene::PlanningScenePtr& scene, std::vector& robot_states) { From 88f1d5a7649444567701ee404ee6b19b2d851056 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Wed, 28 Feb 2024 23:21:39 +0530 Subject: [PATCH 02/16] Update CMakeLists.txt --- moveit_core/kinematics_metrics/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/kinematics_metrics/CMakeLists.txt b/moveit_core/kinematics_metrics/CMakeLists.txt index e760b834ea..754f117c43 100644 --- a/moveit_core/kinematics_metrics/CMakeLists.txt +++ b/moveit_core/kinematics_metrics/CMakeLists.txt @@ -12,4 +12,4 @@ ament_target_dependencies(moveit_kinematics_metrics urdf urdfdom_headers target_link_libraries(moveit_kinematics_metrics moveit_robot_model moveit_robot_state moveit_utils) -install(DIRECTORY include/ DESTINATION include/moveit_core) +install(DIRECTORY include/ DESTINATION include/moveit_core/kinematics_metrics) From 48f25804ee2a1cdffb1b9f5342d9b2180e3df75a Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Wed, 28 Feb 2024 23:22:17 +0530 Subject: [PATCH 03/16] Update CMakeLists.txt --- moveit_core/macros/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/macros/CMakeLists.txt b/moveit_core/macros/CMakeLists.txt index c5cd95113d..95c271eb71 100644 --- a/moveit_core/macros/CMakeLists.txt +++ b/moveit_core/macros/CMakeLists.txt @@ -3,4 +3,4 @@ target_include_directories( moveit_macros INTERFACE $ $) -install(DIRECTORY include/ DESTINATION include/moveit_core) +install(DIRECTORY include/ DESTINATION include/moveit_core/macros) From f15417d0d273823d5b571a2336746382f81a0b39 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Wed, 28 Feb 2024 23:24:01 +0530 Subject: [PATCH 04/16] Update CMakeLists.txt --- moveit_core/online_signal_smoothing/CMakeLists.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/moveit_core/online_signal_smoothing/CMakeLists.txt b/moveit_core/online_signal_smoothing/CMakeLists.txt index bcfca1c75e..177c2deb0b 100644 --- a/moveit_core/online_signal_smoothing/CMakeLists.txt +++ b/moveit_core/online_signal_smoothing/CMakeLists.txt @@ -54,11 +54,11 @@ ament_target_dependencies( # Installation install(DIRECTORY include/ DESTINATION include/moveit_core) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_smoothing_base_export.h - DESTINATION include/moveit_core) + DESTINATION include/moveit_core/online_signal_smoothing) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_butterworth_filter_export.h - DESTINATION include/moveit_core) + DESTINATION include/moveit_core/online_signal_smoothing) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_acceleration_filter_export.h - DESTINATION include/moveit_core) + DESTINATION include/moveit_core/online_signal_smoothing) # Testing From 067e3d2f48bbae0ebacad32d79a0f2b9616b74e5 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Wed, 28 Feb 2024 23:24:41 +0530 Subject: [PATCH 05/16] Update CMakeLists.txt --- moveit_core/planning_interface/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/planning_interface/CMakeLists.txt b/moveit_core/planning_interface/CMakeLists.txt index 338765e2f9..8d22e1f4b7 100644 --- a/moveit_core/planning_interface/CMakeLists.txt +++ b/moveit_core/planning_interface/CMakeLists.txt @@ -11,4 +11,4 @@ ament_target_dependencies(moveit_planning_interface moveit_msgs urdf urdfdom target_link_libraries(moveit_planning_interface moveit_robot_trajectory moveit_robot_state moveit_planning_scene moveit_utils) -install(DIRECTORY include/ DESTINATION include/moveit_core) +install(DIRECTORY include/ DESTINATION include/moveit_core/planning_interface) From 9803bec9b96f3dd286e86c0f145fac4e043a81b7 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Wed, 28 Feb 2024 23:26:07 +0530 Subject: [PATCH 06/16] Update CMakeLists.txt --- moveit_core/planning_scene/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt index 91899f3b79..849ee0b62a 100644 --- a/moveit_core/planning_scene/CMakeLists.txt +++ b/moveit_core/planning_scene/CMakeLists.txt @@ -32,9 +32,9 @@ target_link_libraries( moveit_trajectory_processing moveit_utils) -install(DIRECTORY include/ DESTINATION include/moveit_core) +install(DIRECTORY include/ DESTINATION include/moveit_core/planning_scene) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_scene_export.h - DESTINATION include/moveit_core) + DESTINATION include/moveit_core/planning_scene) if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) From 036e37f6f0152f99d1b25a188f10397813d7cd12 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Thu, 29 Feb 2024 07:44:24 +0530 Subject: [PATCH 07/16] Update CMakeLists.txt --- moveit_core/kinematics_metrics/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/kinematics_metrics/CMakeLists.txt b/moveit_core/kinematics_metrics/CMakeLists.txt index 754f117c43..57e146403a 100644 --- a/moveit_core/kinematics_metrics/CMakeLists.txt +++ b/moveit_core/kinematics_metrics/CMakeLists.txt @@ -12,4 +12,4 @@ ament_target_dependencies(moveit_kinematics_metrics urdf urdfdom_headers target_link_libraries(moveit_kinematics_metrics moveit_robot_model moveit_robot_state moveit_utils) -install(DIRECTORY include/ DESTINATION include/moveit_core/kinematics_metrics) +install(DIRECTORY include/ DESTINATION include/moveit_core_kinematics_metrics) From 6c6f25983d91dd45ca13151b9a36ee8da5fc468d Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Thu, 29 Feb 2024 07:44:51 +0530 Subject: [PATCH 08/16] Update CMakeLists.txt --- moveit_core/macros/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/macros/CMakeLists.txt b/moveit_core/macros/CMakeLists.txt index 95c271eb71..3f12b0240b 100644 --- a/moveit_core/macros/CMakeLists.txt +++ b/moveit_core/macros/CMakeLists.txt @@ -3,4 +3,4 @@ target_include_directories( moveit_macros INTERFACE $ $) -install(DIRECTORY include/ DESTINATION include/moveit_core/macros) +install(DIRECTORY include/ DESTINATION include/moveit_core_macros) From 30733c72c9acd68906cd64b04c4744bdd10e80e5 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Thu, 29 Feb 2024 07:45:36 +0530 Subject: [PATCH 09/16] Update CMakeLists.txt --- moveit_core/online_signal_smoothing/CMakeLists.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/moveit_core/online_signal_smoothing/CMakeLists.txt b/moveit_core/online_signal_smoothing/CMakeLists.txt index 177c2deb0b..3ba924ec9a 100644 --- a/moveit_core/online_signal_smoothing/CMakeLists.txt +++ b/moveit_core/online_signal_smoothing/CMakeLists.txt @@ -54,11 +54,11 @@ ament_target_dependencies( # Installation install(DIRECTORY include/ DESTINATION include/moveit_core) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_smoothing_base_export.h - DESTINATION include/moveit_core/online_signal_smoothing) + DESTINATION include/moveit_core_online_signal_smoothing) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_butterworth_filter_export.h - DESTINATION include/moveit_core/online_signal_smoothing) + DESTINATION include/moveit_core_online_signal_smoothing) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_acceleration_filter_export.h - DESTINATION include/moveit_core/online_signal_smoothing) + DESTINATION include/moveit_core_online_signal_smoothing) # Testing From f42a5ed5db33f4ce932a628ac26fbfb5766fe21f Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Thu, 29 Feb 2024 07:46:17 +0530 Subject: [PATCH 10/16] Update CMakeLists.txt --- moveit_core/planning_scene/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt index 849ee0b62a..a083e24773 100644 --- a/moveit_core/planning_scene/CMakeLists.txt +++ b/moveit_core/planning_scene/CMakeLists.txt @@ -32,9 +32,9 @@ target_link_libraries( moveit_trajectory_processing moveit_utils) -install(DIRECTORY include/ DESTINATION include/moveit_core/planning_scene) +install(DIRECTORY include/ DESTINATION include/moveit_core_planning_scene) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_scene_export.h - DESTINATION include/moveit_core/planning_scene) + DESTINATION include/moveit_core_planning_scene) if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) From 405177ef3c8a774eaea3d24af588116846f0b24c Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Thu, 29 Feb 2024 07:47:00 +0530 Subject: [PATCH 11/16] Update CMakeLists.txt --- moveit_core/planning_interface/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/planning_interface/CMakeLists.txt b/moveit_core/planning_interface/CMakeLists.txt index 8d22e1f4b7..f5af978685 100644 --- a/moveit_core/planning_interface/CMakeLists.txt +++ b/moveit_core/planning_interface/CMakeLists.txt @@ -11,4 +11,4 @@ ament_target_dependencies(moveit_planning_interface moveit_msgs urdf urdfdom target_link_libraries(moveit_planning_interface moveit_robot_trajectory moveit_robot_state moveit_planning_scene moveit_utils) -install(DIRECTORY include/ DESTINATION include/moveit_core/planning_interface) +install(DIRECTORY include/ DESTINATION include/moveit_core_planning_interface) From 3c941fc486fa4ac007a2113778a7cca593fe20f9 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Thu, 29 Feb 2024 08:01:57 +0530 Subject: [PATCH 12/16] Update CMakeLists.txt --- moveit_core/robot_model/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/robot_model/CMakeLists.txt b/moveit_core/robot_model/CMakeLists.txt index 1a1c59fb49..fc9a564019 100644 --- a/moveit_core/robot_model/CMakeLists.txt +++ b/moveit_core/robot_model/CMakeLists.txt @@ -48,4 +48,4 @@ if(BUILD_TESTING) target_link_libraries(test_robot_model moveit_test_utils moveit_robot_model) endif() -install(DIRECTORY include/ DESTINATION include/moveit_core) +install(DIRECTORY include/ DESTINATION include/moveit_core_robot_model) From dfecf435e3b243437703d48c0d4d86d3c31ca6eb Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Thu, 29 Feb 2024 08:02:55 +0530 Subject: [PATCH 13/16] Update CMakeLists.txt --- moveit_core/exceptions/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/exceptions/CMakeLists.txt b/moveit_core/exceptions/CMakeLists.txt index 26591d955a..651e796819 100644 --- a/moveit_core/exceptions/CMakeLists.txt +++ b/moveit_core/exceptions/CMakeLists.txt @@ -9,4 +9,4 @@ ament_target_dependencies(moveit_exceptions Boost rclcpp urdfdom urdfdom_headers) target_link_libraries(moveit_exceptions moveit_utils) -install(DIRECTORY include/ DESTINATION include/moveit_core) +install(DIRECTORY include/ DESTINATION include/moveit_core_exceptions) From b56d6a9f92aeadec4aa0c0cf4a08418b7be7bd1d Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Thu, 29 Feb 2024 08:04:27 +0530 Subject: [PATCH 14/16] Update CMakeLists.txt --- moveit_core/kinematic_constraints/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/kinematic_constraints/CMakeLists.txt b/moveit_core/kinematic_constraints/CMakeLists.txt index 51f33e4950..9ff94630b3 100644 --- a/moveit_core/kinematic_constraints/CMakeLists.txt +++ b/moveit_core/kinematic_constraints/CMakeLists.txt @@ -30,7 +30,7 @@ target_link_libraries( moveit_kinematic_constraints moveit_collision_detection_fcl moveit_kinematics_base moveit_robot_state moveit_robot_model moveit_utils) -install(DIRECTORY include/ DESTINATION include/moveit_core) +install(DIRECTORY include/ DESTINATION include/moveit_core_kinematic_constraints) if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) From d6aae4eab2a748929cbed37bc48360fff4b3bf86 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Fri, 1 Mar 2024 16:02:58 +0530 Subject: [PATCH 15/16] ' = x' to '{ x }' --- .../planning_components_tools/src/display_random_state.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_ros/planning/planning_components_tools/src/display_random_state.cpp b/moveit_ros/planning/planning_components_tools/src/display_random_state.cpp index 0118986c5c..c82febb422 100644 --- a/moveit_ros/planning/planning_components_tools/src/display_random_state.cpp +++ b/moveit_ros/planning/planning_components_tools/src/display_random_state.cpp @@ -102,7 +102,7 @@ int main(int argc, char** argv) if (valid) { bool found = false; - unsigned int attempts = 0; + unsigned int attempts{ 0 }; do { attempts++; @@ -121,7 +121,7 @@ int main(int argc, char** argv) else if (invalid) { bool found = false; - unsigned int attempts = 0; + unsigned int attempts{ 0 }; do { attempts++; From 56f90f63506a938977c49ab7235deed2f9fc3069 Mon Sep 17 00:00:00 2001 From: Bhavdeep Singh Nijhawan <143419096+BhavdeepSinghNijhawan@users.noreply.github.com> Date: Mon, 4 Mar 2024 17:07:42 +0530 Subject: [PATCH 16/16] Update modified_urdf_config.cpp --- .../moveit_setup_controllers/src/modified_urdf_config.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_setup_assistant/moveit_setup_controllers/src/modified_urdf_config.cpp b/moveit_setup_assistant/moveit_setup_controllers/src/modified_urdf_config.cpp index bd2dd06cd1..3dcb4225ea 100644 --- a/moveit_setup_assistant/moveit_setup_controllers/src/modified_urdf_config.cpp +++ b/moveit_setup_assistant/moveit_setup_controllers/src/modified_urdf_config.cpp @@ -67,7 +67,7 @@ bool ModifiedUrdfConfig::hasChanges() const { // Returns true if any of the included xacros are configured and have individually changed // or the list of included xacros have changed. - unsigned int count = 0; + unsigned int count{ 0 }; for (auto& pair : getIncludedXacroMap()) { if (!pair.second->isConfigured())