WIP: Clang format applied

.docker/ci/Dockerfile

@@ -1,48 +1,89 @@
-# moveit/moveit:melodic-ci
+# moveit/moveit2:crystal-ci
 # Sets up a base image to use for running Continuous Integration on Travis
+FROM ros:crystal-ros-base-bionic
 
-FROM ros:melodic-ros-base
-MAINTAINER Dave Coleman dave@picknik.ai
+LABEL maintainer="mike@picknik.ai"
 
 ENV TERM xterm
 
 # Setup catkin workspace
-ENV CATKIN_WS=/root/ws_moveit
-WORKDIR $CATKIN_WS
+ENV ROS_WS=/root/ws_moveit
+ENV ROS_DISTRO crystal
+
+WORKDIR $ROS_WS
 
 # 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 \
-    mkdir src && \
-    cd src && \
+
+RUN mkdir src && \
+    cd $ROS_WS/src && \
     #
     # Download moveit source, so that we can get necessary dependencies
-    wstool init --shallow . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
+    wstool init --shallow . https://raw.githubusercontent.com/ros-planning/moveit2/moveit2-ci/moveit.rosinstall && \
     #
     # Update apt package list as previous containers clear the cache
     apt-get -qq update && \
-    apt-get -qq dist-upgrade && \
+    apt-get -qq dist-upgrade -y && \
     #
     # Install some base dependencies
     apt-get -qq install -y \
         # Some source builds require a package.xml be downloaded via wget from an external location
         wget \
         # Required for rosdep command
         sudo \
-        # Preferred build tools
-        python-catkin-tools \
         clang clang-format-3.9 clang-tidy clang-tools \
-        ccache && \
+        ccache \
+        curl gnupg2 lsb-release \
+        # Some python dependencies for working with ROS2
+        python3-colcon-common-extensions \
+        python3-pip \
+        python-rosdep \
+        python3-vcstool \
+        python3-wstool \
+        python3-rospkg-modules \
+        python3-rospkg-modules \
+        python3-rosdistro-modules \
+        && \
+    #
+    # Upgrade Pip
+    python3 -m pip install --upgrade pip && \
+    #
+    # install some pip packages needed for testing
+    python3 -m pip install -U \
+        argcomplete \
+        flake8 \
+        flake8-blind-except \
+        flake8-builtins \
+        flake8-class-newline \
+        flake8-comprehensions \
+        flake8-deprecated \
+        flake8-docstrings \
+        flake8-import-order \
+        flake8-quotes \
+        # git+https://github.com/lark-parser/lark.git@0.7d \
+        pytest-repeat \
+        pytest-rerunfailures \
+        pytest \
+        pytest-cov \
+        pytest-runner \
+        setuptools \
+        && \
+    #
+    # install Fast-RTPS dependencies
+    apt-get install -qq --no-install-recommends -y \
+        libasio-dev \
+        libtinyxml2-dev \
+        && \
     #
     # Download all dependencies of MoveIt!
     rosdep update && \
+    # Some packages are skipped. See ROS2 source installation
     rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
     #
     # Remove the source code from this container
     # TODO: in the future we may want to keep this here for further optimization of later containers
-    cd .. && \
+    cd $ROS_WS && \
     rm -rf src/ && \
-    #
     # Clear apt-cache to reduce image size
     rm -rf /var/lib/apt/lists/*
 

.docker/release/Dockerfile

@@ -1,7 +1,8 @@
-# moveit/moveit:melodic-release
+# moveit/moveit2:crystal-release
 # Full debian-based install of MoveIt! using apt-get
+# TODO(mlautman): Add this Dockerfile to DockerHub once the moveit2 debians are released
 
-FROM ros:melodic-ros-base
+FROM ros:crystal-ros-base-bionic
 MAINTAINER Dave Coleman dave@picknik.ai
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size

.docker/source/Dockerfile

@@ -1,8 +1,8 @@
-# moveit/moveit:melodic-source
+# moveit/moveit2:crystal-source
 # Downloads the moveit source code and install remaining debian dependencies
 
-FROM moveit/moveit:melodic-ci-shadow-fixed
-MAINTAINER Dave Coleman dave@picknik.ai
+FROM moveit/moveit2:crystal-ci
+LABEL maintainer="mike@picknik.ai"
 
 # 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
@@ -11,7 +11,7 @@ RUN \
     cd src && \
     #
     # Download moveit source so that we can get necessary dependencies
-    wstool init . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
+    wstool init . https://raw.githubusercontent.com/ros-planning/moveit2/moveit2-ci/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)
@@ -21,10 +21,3 @@ RUN \
     rosdep update && \
     rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
     rm -rf /var/lib/apt/lists/*
-
-# Configure catkin workspace, but do not build because Docker times out
-ENV PYTHONIOENCODING UTF-8
-RUN catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release
-    # 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

.travis.yml

@@ -39,7 +39,7 @@ matrix: # Add a separate config to the matrix, using clang as compiler
     - env: TEST=clang-tidy-fix  # need to fix clang-tidy issues
 
 before_script:
-  - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
+  - git clone -b movet2-ci -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
 
 script:
   - .moveit_ci/travis.sh

moveit.rosinstall

@@ -1,34 +1,56 @@
 # This file is intended for users who want to build MoveIt! from source.
 # Used with wstool, users can download source of all packages of MoveIt!.
+
 - git:
-    local-name: moveit
-    uri: https://github.com/ros-planning/moveit.git
-    version: master
+    local-name: moveit2
+    uri: https://github.com/ros-planning/moveit2.git
+    version: moveit2-ci
+
 - git:
     local-name: moveit_msgs
-    uri: https://github.com/ros-planning/moveit_msgs.git
-    version: melodic-devel
+    # TODO(mlautman): update to ros-planning once the package has been ported
+    uri: https://github.com/AcutronicRobotics/moveit_msgs
+    version: ros2
 - git:
-    local-name: moveit_resources
-    uri: https://github.com/ros-planning/moveit_resources.git
-    version: master
+    local-name: geometric_shapes
+    # TODO(mlautman): update to ros-planning once the package has been ported
+    uri: https://github.com/AcutronicRobotics/geometric_shapes
+    version: ros2
 - git:
-    local-name: moveit_visual_tools
-    uri: https://github.com/ros-planning/moveit_visual_tools.git
-    version: melodic-devel
+    local-name: object_recognition_msgs
+    # TODO(mlautman): update to ros-planning once the package has been ported
+    uri: https://github.com/AcutronicRobotics/object_recognition_msgs
+    version: master
 - git:
-    local-name: rviz_visual_tools
-    uri: https://github.com/PickNikRobotics/rviz_visual_tools
-    version: melodic-devel
+    local-name: octomap_msgs
+    # TODO(mlautman): update to ros-planning once the package has been ported
+    uri: https://github.com/AcutronicRobotics/octomap_msgs
+    version: ros2
 - git:
-    local-name: geometric_shapes
-    uri: https://github.com/ros-planning/geometric_shapes.git
-    version: melodic-devel
+    local-name: random_numbers
+    # TODO(mlautman): update to ros-planning once the package has been ported
+    uri: https://github.com/AcutronicRobotics/random_numbers
+    version: ros2
 - git:
     local-name: srdfdom
-    uri: https://github.com/ros-planning/srdfdom.git
-    version: melodic-devel
+    # TODO(mlautman): update to ros-planning once the package has been ported
+    uri: https://github.com/mlautman/srdfdom
+    version: ros2
+- git:
+    local-name: urdf_parser_py
+    # TODO(mlautman): update to ros-planning once the package has been ported
+    uri: https://github.com/AcutronicRobotics/urdf_parser_py
+    version: ros2
+- git:
+    local-name: octomap
+    uri: https://github.com/AcutronicRobotics/octomap
+    version: ros2
+- git:
+    local-name: moveit_resources
+    # TODO(mlautman): update to ros-planning once the package has been ported
+    uri: https://github.com/AcutronicRobotics/moveit_resources
+    version: master
 - git:
-    local-name: moveit_tutorials
-    uri: https://github.com/ros-planning/moveit_tutorials.git
-    version: melodic-devel
+    local-name: joint_state_publisher
+    uri: https://github.com/ros/joint_state_publisher
+    version: ros2-devel

moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h

@@ -46,14 +46,15 @@ void visualizeDistribution(const ConstraintSamplerPtr& sampler, const robot_stat
                            const std::string& link_name, unsigned int sample_count,
                            visualization_msgs::MarkerArray& markers);
 
-void visualizeDistribution(const moveit_msgs::msg::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
-                           const std::string& group, const std::string& link_name, unsigned int sample_count,
+void visualizeDistribution(const moveit_msgs::msg::Constraints& constr,
+                           const planning_scene::PlanningSceneConstPtr& scene, const std::string& group,
+                           const std::string& link_name, unsigned int sample_count,
                            visualization_msgs::MarkerArray& markers);
 
 double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const robot_state::RobotState& reference_state);
 
-double countSamplesPerSecond(const moveit_msgs::msg::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
-                             const std::string& group);
+double countSamplesPerSecond(const moveit_msgs::msg::Constraints& constr,
+                             const planning_scene::PlanningSceneConstPtr& scene, const std::string& group);
 }
 
 #endif

moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp

@@ -321,15 +321,17 @@ bool PR2ArmKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_mo
 }
 
 bool PR2ArmKinematicsPlugin::getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
-                                           std::vector<double>& solution, moveit_msgs::msg::MoveItErrorCodes& error_code,
+                                           std::vector<double>& solution,
+                                           moveit_msgs::msg::MoveItErrorCodes& error_code,
                                            const kinematics::KinematicsQueryOptions& options) const
 {
   return false;
 }
 
 bool PR2ArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose,
                                               const std::vector<double>& ik_seed_state, double timeout,
-                                              std::vector<double>& solution, moveit_msgs::msg::MoveItErrorCodes& error_code,
+                                              std::vector<double>& solution,
+                                              moveit_msgs::msg::MoveItErrorCodes& error_code,
                                               const kinematics::KinematicsQueryOptions& options) const
 {
   if (!active_)
@@ -378,7 +380,8 @@ bool PR2ArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose
 bool PR2ArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose,
                                               const std::vector<double>& ik_seed_state, double timeout,
                                               const std::vector<double>& consistency_limit,
-                                              std::vector<double>& solution, moveit_msgs::msg::MoveItErrorCodes& error_code,
+                                              std::vector<double>& solution,
+                                              moveit_msgs::msg::MoveItErrorCodes& error_code,
                                               const kinematics::KinematicsQueryOptions& options) const
 {
   return false;

moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h

@@ -194,7 +194,8 @@ class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
    */
   bool searchPositionIK(
       const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
-      std::vector<double>& solution, const IKCallbackFn& solution_callback, moveit_msgs::msg::MoveItErrorCodes& error_code,
+      std::vector<double>& solution, const IKCallbackFn& solution_callback,
+      moveit_msgs::msg::MoveItErrorCodes& error_code,
       const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
   /**

moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h

@@ -125,11 +125,10 @@ class MoveItControllerHandle
    * The controller is expected to execute the trajectory, but this function call should not block.
    * Blocking is achievable by calling waitForExecution().
    * Return false when the controller cannot accept the trajectory. */
-   *
-   * The controller is expected to execute the trajectory, but this function call should not block.
-   * Blocking is achievable by calling waitForExecution().
-   * Return false when the controller cannot accept the trajectory. */
-  virtual bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) = 0;
+  **The controller is expected to execute the trajectory,
+      but this function call should not block.* Blocking is achievable by calling waitForExecution().*
+          Return false when the controller cannot accept the trajectory.* /
+          virtual bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory &trajectory) = 0;
 
   /** \brief Cancel the execution of any motion using this controller.
    *

moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h

@@ -1060,11 +1060,13 @@ class KinematicConstraintSet
 
   std::vector<moveit_msgs::msg::JointConstraint> joint_constraints_; /**<  \brief Messages corresponding to all internal
                                                                    joint constraints */
-  std::vector<moveit_msgs::msg::PositionConstraint> position_constraints_;       /**<  \brief Messages corresponding to all
-                                                                               internal position constraints */
-  std::vector<moveit_msgs::msg::OrientationConstraint> orientation_constraints_; /**<  \brief Messages corresponding to all
+  std::vector<moveit_msgs::msg::PositionConstraint> position_constraints_; /**<  \brief Messages corresponding to all
+                                                                         internal position constraints */
+  std::vector<moveit_msgs::msg::OrientationConstraint> orientation_constraints_; /**<  \brief Messages corresponding to
+                                                                               all
                                                                                internal orientation constraints */
-  std::vector<moveit_msgs::msg::VisibilityConstraint> visibility_constraints_;   /**<  \brief Messages corresponding to all
+  std::vector<moveit_msgs::msg::VisibilityConstraint> visibility_constraints_;   /**<  \brief Messages corresponding to
+                                                                               all
                                                                                internal visibility constraints */
   moveit_msgs::msg::Constraints all_constraints_; /**<  \brief Messages corresponding to all internal constraints */
 };