Travis: Update to Noetic and fix various warnings

.clang-format

@@ -1,66 +1,75 @@
 ---
 BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
+
 AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
+
 BinPackParameters: true
-ColumnLimit:    120
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
-PenaltyBreakString: 1
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 90
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
 SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
 SpacesInAngles:  false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
 
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
 ...

.travis.yml

@@ -9,13 +9,14 @@ cache: ccache
 
 env:
   global:
-    - DOCKER_IMAGE=moveit/moveit:master-source
-    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unused-parameter -Wno-unused-function"
+    - ROS_DISTRO=noetic
+    - ROS_REPO=ros-testing
+    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
     - WARNINGS_OK=false
   matrix:
     - TEST="clang-format catkin_lint"
     - TEST=clang-tidy-fix
-    - DOCKER_IMAGE=moveit/moveit:master-source
+    - DOCKER_IMAGE=moveit/moveit:master-source ROS_REPO=
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci

CMakeLists.txt

@@ -42,13 +42,10 @@ catkin_package(
 )
 
 ## Build
+include_directories(include)
 include_directories(SYSTEM
-  ${EIGEN3_INCLUDE_DIRS}
-)
-
-include_directories(
-  include
   ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 # Visualization Tools Library

include/moveit_visual_tools/imarker_end_effector.h

@@ -61,8 +61,8 @@
 
 namespace moveit_visual_tools
 {
-using visualization_msgs::InteractiveMarkerFeedback;
 using visualization_msgs::InteractiveMarkerControl;
+using visualization_msgs::InteractiveMarkerFeedback;
 
 typedef std::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&, const Eigen::Isometry3d&)>
     IMarkerCallback;
@@ -177,12 +177,4 @@ typedef std::shared_ptr<IMarkerEndEffector> IMarkerEndEffectorPtr;
 typedef std::shared_ptr<const IMarkerEndEffector> IMarkerEndEffectorConstPtr;
 }  // namespace moveit_visual_tools
 
-namespace
-{
-/** \brief Collision checking handle for IK solvers */
-bool isStateValid(const planning_scene::PlanningScene* planning_scene, bool verbose, bool only_check_self_collision,
-                  const moveit_visual_tools::MoveItVisualToolsPtr& visual_tools_, moveit::core::RobotState* state,
-                  const moveit::core::JointModelGroup* group, const double* ik_solution);
-}
-
 #endif  // MOVEIT_VISUAL_TOOLS_IMARKER_END_EFFECTOR_H

include/moveit_visual_tools/imarker_robot_state.h

@@ -54,8 +54,8 @@
 
 namespace moveit_visual_tools
 {
-using visualization_msgs::InteractiveMarkerFeedback;
 using visualization_msgs::InteractiveMarkerControl;
+using visualization_msgs::InteractiveMarkerFeedback;
 
 typedef std::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&, const Eigen::Isometry3d&)>
     IMarkerCallback;
@@ -182,12 +182,4 @@ typedef std::shared_ptr<IMarkerRobotState> IMarkerRobotStatePtr;
 typedef std::shared_ptr<const IMarkerRobotState> IMarkerRobotStateConstPtr;
 }  // namespace moveit_visual_tools
 
-namespace
-{
-/** \brief Collision checking handle for IK solvers */
-bool isIKStateValid(const planning_scene::PlanningScene* planning_scene, bool verbose, bool only_check_self_collision,
-                    const moveit_visual_tools::MoveItVisualToolsPtr& visual_tools_, moveit::core::RobotState* state,
-                    const moveit::core::JointModelGroup* group, const double* ik_solution);
-}
-
 #endif  // MOVEIT_VISUAL_TOOLS_IMARKER_ROBOT_STATE_H

src/imarker_end_effector.cpp

@@ -49,6 +49,61 @@
 #include <moveit_visual_tools/imarker_robot_state.h>
 #include <moveit_visual_tools/imarker_end_effector.h>
 
+namespace
+{
+bool isStateValid(const planning_scene::PlanningScene* planning_scene, bool verbose, bool only_check_self_collision,
+                  const moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, moveit::core::RobotState* robot_state,
+                  const moveit::core::JointModelGroup* group, const double* ik_solution)
+{
+  // Apply IK solution to robot state
+  robot_state->setJointGroupPositions(group, ik_solution);
+  robot_state->update();
+
+#if 0  // Ensure there are objects in the planning scene
+  const std::size_t num_collision_objects = planning_scene->getCollisionEnv()->getWorld()->size();
+  if (num_collision_objects == 0)
+  {
+    ROS_ERROR_STREAM_NAMED("cart_path_planner", "No collision objects exist in world, you need at least a table "
+                           "modeled for the controller to work");
+    ROS_ERROR_STREAM_NAMED("cart_path_planner", "To fix this, relaunch the teleop/head tracking/whatever MoveIt "
+                           "node to publish the collision objects");
+    return false;
+  }
+#endif
+
+  if (!planning_scene)
+  {
+    ROS_ERROR_STREAM_NAMED("cart_path_planner", "No planning scene provided");
+    return false;
+  }
+  if (only_check_self_collision)
+  {
+    // No easy API exists for only checking self-collision, so we do it here.
+    // TODO(davetcoleman): move this into planning_scene.cpp
+    collision_detection::CollisionRequest req;
+    req.verbose = verbose;
+    req.group_name = group->getName();
+    collision_detection::CollisionResult res;
+    planning_scene->checkSelfCollision(req, res, *robot_state);
+    if (!res.collision)
+      return true;  // not in collision
+  }
+  else if (!planning_scene->isStateColliding(*robot_state, group->getName()))
+    return true;  // not in collision
+
+  // Display more info about the collision
+  if (verbose)
+  {
+    visual_tools->publishRobotState(*robot_state, rviz_visual_tools::RED);
+    planning_scene->isStateColliding(*robot_state, group->getName(), true);
+    visual_tools->publishContactPoints(*robot_state, planning_scene);
+  }
+  ROS_WARN_STREAM_THROTTLE_NAMED(2.0, "cart_path_planner", "Collision");
+  return false;
+}
+
+}  // namespace
+
 namespace moveit_visual_tools
 {
 IMarkerEndEffector::IMarkerEndEffector(IMarkerRobotState* imarker_parent, const std::string& imarker_name,
@@ -174,7 +229,7 @@ void IMarkerEndEffector::initializeInteractiveMarkers()
   make6DofMarker(pose_msg);
 }
 
-void IMarkerEndEffector::updateIMarkerPose(const Eigen::Isometry3d& pose)
+void IMarkerEndEffector::updateIMarkerPose(const Eigen::Isometry3d& /*pose*/)
 {
   // Move marker to tip of fingers
   // imarker_pose_ = pose * imarker_offset_.inverse();
@@ -269,58 +324,3 @@ IMarkerEndEffector::makeBoxControl(visualization_msgs::InteractiveMarker& msg)
 }
 
 }  // namespace moveit_visual_tools
-
-namespace
-{
-bool isStateValid(const planning_scene::PlanningScene* planning_scene, bool verbose, bool only_check_self_collision,
-                  const moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, moveit::core::RobotState* robot_state,
-                  const moveit::core::JointModelGroup* group, const double* ik_solution)
-{
-  // Apply IK solution to robot state
-  robot_state->setJointGroupPositions(group, ik_solution);
-  robot_state->update();
-
-#if 0  // Ensure there are objects in the planning scene
-  const std::size_t num_collision_objects = planning_scene->getCollisionEnv()->getWorld()->size();
-  if (num_collision_objects == 0)
-  {
-    ROS_ERROR_STREAM_NAMED("cart_path_planner", "No collision objects exist in world, you need at least a table "
-                           "modeled for the controller to work");
-    ROS_ERROR_STREAM_NAMED("cart_path_planner", "To fix this, relaunch the teleop/head tracking/whatever MoveIt "
-                           "node to publish the collision objects");
-    return false;
-  }
-#endif
-
-  if (!planning_scene)
-  {
-    ROS_ERROR_STREAM_NAMED("cart_path_planner", "No planning scene provided");
-    return false;
-  }
-  if (only_check_self_collision)
-  {
-    // No easy API exists for only checking self-collision, so we do it here.
-    // TODO(davetcoleman): move this into planning_scene.cpp
-    collision_detection::CollisionRequest req;
-    req.verbose = verbose;
-    req.group_name = group->getName();
-    collision_detection::CollisionResult res;
-    planning_scene->checkSelfCollision(req, res, *robot_state);
-    if (!res.collision)
-      return true;  // not in collision
-  }
-  else if (!planning_scene->isStateColliding(*robot_state, group->getName()))
-    return true;  // not in collision
-
-  // Display more info about the collision
-  if (verbose)
-  {
-    visual_tools->publishRobotState(*robot_state, rviz_visual_tools::RED);
-    planning_scene->isStateColliding(*robot_state, group->getName(), true);
-    visual_tools->publishContactPoints(*robot_state, planning_scene);
-  }
-  ROS_WARN_STREAM_THROTTLE_NAMED(2.0, "cart_path_planner", "Collision");
-  return false;
-}
-
-}  // namespace