Merge moveit/moveit@ab42a1d

.github/workflows/ci.yaml

@@ -28,7 +28,8 @@ jobs:
             IKFAST_TEST: true
             CLANG_TIDY: pedantic
     env:
-      CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"
+      CXXFLAGS: >-
+        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: moveit2.repos $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
@@ -39,12 +40,15 @@ jobs:
       BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z
       AFTER_BUILD_TARGET_WORKSPACE: ccache -s
       # Changing linker to lld as ld has a behavior where it takes a long time to finish
+      # Compile CCOV with Debug. Enable -Werror (except CLANG_TIDY=pedantic, which makes the clang-tidy step fail on warnings)
       TARGET_CMAKE_ARGS: >
         -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}$CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
+      DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}

moveit/scripts/create_readme_table.py

@@ -1,5 +1,7 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
+# Usage: python moveit/moveit/scripts/create_readme_table.py > /tmp/table.md
+# First update supported_distro_ubuntu_dict below!
 
 # Copyright 2021 PickNik Inc.
 #
@@ -77,7 +79,7 @@ def create_line(package, ros_ubuntu_dict):
             "U": ubuntu[0].upper(),
             "ubuntu": ubuntu.lower(),
             "package": package,
-            "base_url": "http://build.ros.org",
+            "base_url": "https://build.ros.org",
         }
         for target in ["src", "bin"]:
             define_urls(target, params)
@@ -102,7 +104,6 @@ def create_moveit_buildfarm_table():
     # remove {"indigo":"trusty"} and add {"noetic":"fbuntu"} with "fbuntu"
     # being whatever the 20.04 distro is named
     supported_distro_ubuntu_dict = {
-        "kinetic": "xenial",
         "melodic": "bionic",
         "noetic": "focal",
     }

moveit_core/collision_detection/src/collision_matrix.cpp

@@ -35,7 +35,7 @@
 /* Author: Ioan Sucan, E. Gil Jones */
 
 #include <moveit/collision_detection/collision_matrix.h>
-#include <boost/bind.hpp>
+#include <functional>
 #include <iomanip>
 #include "rclcpp/rclcpp.hpp"
 
@@ -280,7 +280,7 @@ bool AllowedCollisionMatrix::getAllowedCollision(const std::string& name1, const
     else if (!found1 && found2)
       fn = fn2;
     else if (found1 && found2)
-      fn = boost::bind(&andDecideContact, fn1, fn2, _1);
+      fn = std::bind(&andDecideContact, fn1, fn2, std::placeholders::_1);
     else
       return false;
     return true;

moveit_core/collision_detection/src/world_diff.cpp

@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley, Ioan Sucan */
 
 #include <moveit/collision_detection/world_diff.h>
-#include <boost/bind.hpp>
+#include <functional>
 
 namespace collision_detection
 {
@@ -52,7 +52,8 @@ WorldDiff::WorldDiff()
 
 WorldDiff::WorldDiff(const WorldPtr& world) : world_(world)
 {
-  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
+  observer_handle_ =
+      world->addObserver(std::bind(&WorldDiff::notify, this, std::placeholders::_1, std::placeholders::_2));
 }
 
 WorldDiff::WorldDiff(WorldDiff& other)
@@ -63,7 +64,8 @@ WorldDiff::WorldDiff(WorldDiff& other)
     changes_ = other.changes_;
 
     WorldWeakPtr(world).swap(world_);
-    observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
+    observer_handle_ =
+        world->addObserver(std::bind(&WorldDiff::notify, this, std::placeholders::_1, std::placeholders::_2));
   }
 }
 
@@ -87,7 +89,8 @@ void WorldDiff::reset(const WorldPtr& world)
     old_world->removeObserver(observer_handle_);
 
   WorldWeakPtr(world).swap(world_);
-  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
+  observer_handle_ =
+      world->addObserver(std::bind(&WorldDiff::notify, this, std::placeholders::_1, std::placeholders::_2));
 }
 
 void WorldDiff::setWorld(const WorldPtr& world)
@@ -101,7 +104,8 @@ void WorldDiff::setWorld(const WorldPtr& world)
 
   WorldWeakPtr(world).swap(world_);
 
-  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
+  observer_handle_ =
+      world->addObserver(std::bind(&WorldDiff::notify, this, std::placeholders::_1, std::placeholders::_2));
   world->notifyObserverAllObjects(observer_handle_, World::CREATE | World::ADD_SHAPE);
 }
 

moveit_core/collision_detection/test/test_world.cpp

@@ -37,7 +37,7 @@
 #include <gtest/gtest.h>
 #include <moveit/collision_detection/world.h>
 #include <geometric_shapes/shapes.h>
-#include <boost/bind.hpp>
+#include <functional>
 
 TEST(World, AddRemoveShape)
 {
@@ -236,7 +236,7 @@ TEST(World, TrackChanges)
 
   TestAction ta;
   collision_detection::World::ObserverHandle observer_ta;
-  observer_ta = world.addObserver(boost::bind(TrackChangesNotify, &ta, _1, _2));
+  observer_ta = world.addObserver(std::bind(TrackChangesNotify, &ta, std::placeholders::_1, std::placeholders::_2));
 
   // Create some shapes
   shapes::ShapePtr ball(new shapes::Sphere(1.0));
@@ -267,7 +267,7 @@ TEST(World, TrackChanges)
 
   TestAction ta2;
   collision_detection::World::ObserverHandle observer_ta2;
-  observer_ta2 = world.addObserver(boost::bind(TrackChangesNotify, &ta2, _1, _2));
+  observer_ta2 = world.addObserver(std::bind(TrackChangesNotify, &ta2, std::placeholders::_1, std::placeholders::_2));
 
   world.addToObject("obj2", cyl, Eigen::Isometry3d::Identity());
 
@@ -305,7 +305,7 @@ TEST(World, TrackChanges)
 
   TestAction ta3;
   collision_detection::World::ObserverHandle observer_ta3;
-  observer_ta3 = world.addObserver(boost::bind(TrackChangesNotify, &ta3, _1, _2));
+  observer_ta3 = world.addObserver(std::bind(TrackChangesNotify, &ta3, std::placeholders::_1, std::placeholders::_2));
 
   bool rm_good = world.removeShapeFromObject("obj2", cyl);
   EXPECT_TRUE(rm_good);
@@ -371,7 +371,7 @@ TEST(World, ObjectPoseAndSubframes)
 
   TestAction ta;
   collision_detection::World::ObserverHandle observer_ta;
-  observer_ta = world.addObserver(boost::bind(TrackChangesNotify, &ta, _1, _2));
+  observer_ta = world.addObserver(std::bind(TrackChangesNotify, &ta, std::placeholders::_1, std::placeholders::_2));
 
   // Create shapes
   shapes::ShapePtr ball(new shapes::Sphere(1.0));

moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp

@@ -38,7 +38,7 @@
 #include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
 #include <moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h>
 #include <moveit/collision_detection_bullet/bullet_integration/contact_checker_common.h>
-#include <boost/bind.hpp>
+#include <functional>
 #include <bullet/btBulletCollisionCommon.h>
 
 namespace collision_detection
@@ -51,7 +51,8 @@ CollisionEnvBullet::CollisionEnvBullet(const moveit::core::RobotModelConstPtr& m
   : CollisionEnv(model, padding, scale)
 {
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvBullet::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvBullet::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 
   for (const std::pair<const std::string, urdf::LinkSharedPtr>& link : robot_model_->getURDF()->links_)
   {
@@ -64,7 +65,8 @@ CollisionEnvBullet::CollisionEnvBullet(const moveit::core::RobotModelConstPtr& m
   : CollisionEnv(model, world, padding, scale)
 {
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvBullet::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvBullet::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 
   for (const std::pair<const std::string, urdf::LinkSharedPtr>& link : robot_model_->getURDF()->links_)
   {
@@ -78,7 +80,8 @@ CollisionEnvBullet::CollisionEnvBullet(const CollisionEnvBullet& other, const Wo
   : CollisionEnv(other, world)
 {
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvBullet::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvBullet::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 
   for (const std::pair<const std::string, urdf::LinkSharedPtr>& link : other.robot_model_->getURDF()->links_)
   {
@@ -301,7 +304,8 @@ void CollisionEnvBullet::setWorld(const WorldPtr& world)
   CollisionEnv::setWorld(world);
 
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvBullet::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvBullet::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 
   // get notifications any objects already in the new world
   getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);

moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp

@@ -107,7 +107,8 @@ CollisionEnvFCL::CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model,
   manager_ = std::make_unique<fcl::DynamicAABBTreeCollisionManagerd>();
 
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvFCL::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 }
 
 CollisionEnvFCL::CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding,
@@ -142,7 +143,8 @@ CollisionEnvFCL::CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model,
   manager_ = std::make_unique<fcl::DynamicAABBTreeCollisionManagerd>();
 
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvFCL::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
   getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
 }
 
@@ -164,7 +166,8 @@ CollisionEnvFCL::CollisionEnvFCL(const CollisionEnvFCL& other, const WorldPtr& w
   // manager_->update();
 
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvFCL::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 }
 
 void CollisionEnvFCL::getAttachedBodyObjects(const moveit::core::AttachedBody* ab,
@@ -405,7 +408,8 @@ void CollisionEnvFCL::setWorld(const WorldPtr& world)
   CollisionEnv::setWorld(world);
 
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvFCL::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvFCL::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 
   // get notifications any objects already in the new world
   getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);

moveit_core/collision_distance_field/src/collision_env_distance_field.cpp

@@ -44,7 +44,7 @@
 #include <moveit/collision_distance_field/collision_common_distance_field.h>
 #include <moveit/distance_field/propagation_distance_field.h>
 #include <moveit/collision_distance_field/collision_detector_allocator_distance_field.h>
-#include <boost/bind.hpp>
+#include <functional>
 #include <memory>
 #include <utility>
 
@@ -71,7 +71,8 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(
   distance_field_cache_entry_world_ = generateDistanceFieldCacheEntryWorld();
 
   // request notifications about changes to world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvDistanceField::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvDistanceField::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 }
 
 CollisionEnvDistanceField::CollisionEnvDistanceField(
@@ -87,7 +88,8 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(
   distance_field_cache_entry_world_ = generateDistanceFieldCacheEntryWorld();
 
   // request notifications about changes to world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvDistanceField::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvDistanceField::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 
   getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
 }
@@ -110,7 +112,8 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(const CollisionEnvDistanceF
   planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
 
   // request notifications about changes to world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvDistanceField::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvDistanceField::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
   getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);
 }
 
@@ -1689,7 +1692,8 @@ void CollisionEnvDistanceField::setWorld(const WorldPtr& world)
   CollisionEnv::setWorld(world);
 
   // request notifications about changes to new world
-  observer_handle_ = getWorld()->addObserver(boost::bind(&CollisionEnvDistanceField::notifyObjectChange, this, _1, _2));
+  observer_handle_ = getWorld()->addObserver(
+      std::bind(&CollisionEnvDistanceField::notifyObjectChange, this, std::placeholders::_1, std::placeholders::_2));
 
   // get notifications any objects already in the new world
   getWorld()->notifyObserverAllObjects(observer_handle_, World::CREATE);

moveit_core/constraint_samplers/src/default_constraint_samplers.cpp

@@ -36,7 +36,7 @@
 
 #include <moveit/constraint_samplers/default_constraint_samplers.h>
 #include <cassert>
-#include <boost/bind.hpp>
+#include <functional>
 
 namespace constraint_samplers
 {
@@ -561,8 +561,8 @@ bool IKConstraintSampler::sampleHelper(moveit::core::RobotState& state, const mo
 
   kinematics::KinematicsBase::IKCallbackFn adapted_ik_validity_callback;
   if (group_state_validity_callback_)
-    adapted_ik_validity_callback =
-        boost::bind(&samplingIkCallbackFnAdapter, &state, jmg_, group_state_validity_callback_, _1, _2, _3);
+    adapted_ik_validity_callback = std::bind(&samplingIkCallbackFnAdapter, &state, jmg_, group_state_validity_callback_,
+                                             std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
 
   for (unsigned int a = 0; a < max_attempts; ++a)
   {

moveit_core/constraint_samplers/test/test_constraint_samplers.cpp

@@ -49,7 +49,7 @@
 #include <gtest/gtest.h>
 #include <urdf_parser/urdf_parser.h>
 #include <fstream>
-#include <boost/bind.hpp>
+#include <functional>
 
 #include "pr2_arm_kinematics_plugin.h"
 
@@ -83,8 +83,8 @@ class LoadPlanningModelsPr2 : public testing::Test
     pr2_kinematics_plugin_left_arm_->initialize(node_, *robot_model_, "left_arm", "torso_lift_link",
                                                 { "l_wrist_roll_link" }, .01);
 
-    func_right_arm_ = boost::bind(&LoadPlanningModelsPr2::getKinematicsSolverRightArm, this, _1);
-    func_left_arm_ = boost::bind(&LoadPlanningModelsPr2::getKinematicsSolverLeftArm, this, _1);
+    func_right_arm_ = std::bind(&LoadPlanningModelsPr2::getKinematicsSolverRightArm, this, std::placeholders::_1);
+    func_left_arm_ = std::bind(&LoadPlanningModelsPr2::getKinematicsSolverLeftArm, this, std::placeholders::_1);
 
     std::map<std::string, moveit::core::SolverAllocatorFn> allocators;
     allocators["right_arm"] = func_right_arm_;

moveit_core/kinematic_constraints/src/kinematic_constraint.cpp

@@ -46,7 +46,7 @@
 #else
 #include <tf2_eigen/tf2_eigen.h>
 #endif
-#include <boost/bind.hpp>
+#include <functional>
 #include <limits>
 #include <memory>
 #include <typeinfo>

moveit_core/planning_request_adapter/src/planning_request_adapter.cpp

@@ -35,7 +35,7 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/planning_request_adapter/planning_request_adapter.h>
-#include <boost/bind.hpp>
+#include <functional>
 #include <algorithm>
 #include "rclcpp/rclcpp.hpp"
 
@@ -66,8 +66,9 @@ bool PlanningRequestAdapter::adaptAndPlan(const planning_interface::PlannerManag
                                           planning_interface::MotionPlanResponse& res,
                                           std::vector<std::size_t>& added_path_index) const
 {
-  return adaptAndPlan(boost::bind(&callPlannerInterfaceSolve, planner.get(), _1, _2, _3), planning_scene, req, res,
-                      added_path_index);
+  return adaptAndPlan(std::bind(&callPlannerInterfaceSolve, planner.get(), std::placeholders::_1, std::placeholders::_2,
+                                std::placeholders::_3),
+                      planning_scene, req, res, added_path_index);
 }
 
 bool PlanningRequestAdapter::adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
@@ -148,10 +149,12 @@ bool PlanningRequestAdapterChain::adaptAndPlan(const planning_interface::Planner
 
     // if there are adapters, construct a function pointer for each, in order,
     // so that in the end we have a nested sequence of function pointers that call the adapters in the correct order.
-    PlanningRequestAdapter::PlannerFn fn = boost::bind(&callAdapter1, adapters_.back().get(), planner, _1, _2, _3,
-                                                       boost::ref(added_path_index_each.back()));
+    PlanningRequestAdapter::PlannerFn fn =
+        std::bind(&callAdapter1, adapters_.back().get(), planner, std::placeholders::_1, std::placeholders::_2,
+                  std::placeholders::_3, boost::ref(added_path_index_each.back()));
     for (int i = adapters_.size() - 2; i >= 0; --i)
-      fn = boost::bind(&callAdapter2, adapters_[i].get(), fn, _1, _2, _3, boost::ref(added_path_index_each[i]));
+      fn = std::bind(&callAdapter2, adapters_[i].get(), fn, std::placeholders::_1, std::placeholders::_2,
+                     std::placeholders::_3, boost::ref(added_path_index_each[i]));
     bool result = fn(planning_scene, req, res);
     added_path_index.clear();