Merge branch 'main' into patch-3

moveit · Jul 11, 2024 · bbbf334 · bbbf334
2 parents c783d60 + 865b006
commit bbbf334
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Showing 7 changed files with 19 additions and 20 deletions.
diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml
@@ -51,7 +51,7 @@ jobs:
           path: .ccache
           key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }}
       - name: inject ccache into docker
-        uses: reproducible-containers/[email protected].1
+        uses: reproducible-containers/[email protected].2
         with:
           cache-source: .ccache
           cache-target: /root/.ccache/

diff --git a/moveit_core/package.xml b/moveit_core/package.xml
@@ -41,13 +41,7 @@
   <depend>libfcl-dev</depend>
   <depend>moveit_common</depend>
   <depend>moveit_msgs</depend>
-  <!--
-  Temporarily disable octomap dependency because of
-  version conflict. We use liboctomap-dev provided
-  by libfcl-dev.
-  See https://github.com/moveit/moveit2/issues/2862
-  <depend>octomap</depend>
-  -->
+  <depend>liboctomap-dev</depend>
   <depend>octomap_msgs</depend>
   <depend>osqp_vendor</depend>
   <depend>pluginlib</depend>

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1262,6 +1262,7 @@ bool PlanningScene::setPlanningSceneDiffMsg(const moveit_msgs::msg::PlanningScen
 
 bool PlanningScene::setPlanningSceneMsg(const moveit_msgs::msg::PlanningScene& scene_msg)
 {
+  assert(scene_msg.is_diff == false);
   RCLCPP_DEBUG(getLogger(), "Setting new planning scene: '%s'", scene_msg.name.c_str());
   name_ = scene_msg.name;
 

diff --git a/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp b/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp
@@ -60,8 +60,9 @@ void initMoveitPy(py::module& m)
   The MoveItPy class is the main interface to the MoveIt Python API. It is a wrapper around the MoveIt C++ API.
 									     )")
 
-      .def(py::init([](const std::string& node_name, const std::vector<std::string>& launch_params_filepaths,
-                       const py::object& config_dict, bool provide_planning_service) {
+      .def(py::init([](const std::string& node_name, const std::string& name_space,
+                       const std::vector<std::string>& launch_params_filepaths, const py::object& config_dict,
+                       bool provide_planning_service) {
              // This section is used to load the appropriate node parameters before spinning a moveit_cpp instance
              // Priority is given to parameters supplied directly via a config_dict, followed by launch parameters
              // and finally no supplied parameters.
@@ -106,7 +107,7 @@ void initMoveitPy(py::module& m)
                  .arguments(launch_arguments);
 
              RCLCPP_INFO(getLogger(), "Initialize node and executor");
-             rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared(node_name, "", node_options);
+             rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared(node_name, name_space, node_options);
              std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor =
                  std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
@@ -133,7 +134,7 @@ void initMoveitPy(py::module& m)
 
              return moveit_cpp_ptr;
            }),
-           py::arg("node_name") = "moveit_py",
+           py::arg("node_name") = "moveit_py", py::arg("name_space") = "",
            py::arg("launch_params_filepaths") =
                utils.attr("get_launch_params_filepaths")().cast<std::vector<std::string>>(),
            py::arg("config_dict") = py::none(), py::arg("provide_planning_service") = true,

diff --git a/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp b/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp
@@ -175,6 +175,15 @@ void initPlanningSceneMonitor(py::module& m)
                attached_collision_object_msg (moveit_msgs.msg.AttachedCollisionObject): The attached collision object to apply to the planning scene.
            )")
 
+      .def("new_planning_scene_message", &planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage,
+           py::arg("scene"),
+           R"(
+           Called to update the planning scene with a new message.
+
+	      Args:
+               scene (moveit_msgs.msg.PlanningScene): The new planning scene message.
+           )")
+
       .def("read_only", &moveit_py::bind_planning_scene_monitor::readOnly,
            R"(
            Returns a read-only context manager for the planning scene.

diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml
@@ -26,13 +26,7 @@
   <depend>rclcpp</depend>
   <depend>moveit_core</depend>
   <depend>moveit_msgs</depend>
-  <!--
-  Temporarily disable octomap dependency because of
-  version conflict. We use liboctomap-dev provided
-  by moveit_core->libfcl-dev.
-  See https://github.com/moveit/moveit2/issues/2862
-  <depend>octomap</depend>
-  -->
+  <depend>liboctomap-dev</depend>
   <depend version_gte="1.11.2">pluginlib</depend>
   <depend>tf2_ros</depend>
   <depend>geometric_shapes</depend>

diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -740,7 +740,7 @@ bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::msg::Plann
     }
     else
     {
-      result = scene_->setPlanningSceneDiffMsg(scene);
+      result = scene_->usePlanningSceneMsg(scene);
     }
 
     if (octomap_monitor_)