Merge branch 'main' into pr-update-collision-request

sjahr · Nov 18, 2024 · 00c11fd · 00c11fd
2 parents eab7a26 + 91b47a6
commit 00c11fd
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Showing 6 changed files with 11 additions and 18 deletions.
diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
@@ -18,7 +18,7 @@ COPY . src/moveit2
 RUN \
     # Update apt package list as previous containers clear the cache
     apt-get -q update && \
-    apt-get -q -y upgrade --with-new-pkgs && \
+    apt-get -q -y upgrade && \
     #
     # Install some base dependencies
     apt-get -q install --no-install-recommends -y \

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -26,10 +26,10 @@ jobs:
             CLANG_TIDY: pedantic
           - IMAGE: humble-ci
             ROS_DISTRO: humble
-          - IMAGE: humble-ci-testing
-            ROS_DISTRO: humble
           - IMAGE: jazzy-ci
             ROS_DISTRO: jazzy
+          - IMAGE: jazzy-ci-testing
+            ROS_DISTRO: jazzy
     env:
       # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option
       # https://stackoverflow.com/a/41673702

diff --git a/moveit2_humble.repos b/moveit2_humble.repos
diff --git a/moveit2_iron.repos b/moveit2_iron.repos
diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp
@@ -781,6 +781,8 @@ TEST_F(OneRobot, rigidlyConnectedParent)
   EXPECT_EQ(robot_model_->getRigidlyConnectedParentLinkModel(link_b), link_a);
 
   moveit::core::RobotState state(robot_model_);
+  state.setToDefaultValues();
+  state.updateLinkTransforms();
 
   EXPECT_EQ(state.getRigidlyConnectedParentLinkModel("link_b"), link_a);
 

diff --git a/...ners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp b/...ners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp
@@ -415,9 +415,10 @@ TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotStateWithIdentityColl
   const moveit::core::LinkModel* tip_link = robot_model_->getLinkModel(tcp_link_);
   Eigen::Isometry3d tip_pose_in_base = state.getFrameTransform(tcp_link_);
 
-  // Attach an object with no subframes, and no transform
+  // Attach an object with ignored subframes, and no transform
   Eigen::Isometry3d object_pose_in_tip = Eigen::Isometry3d::Identity();
-  attachToLink(state, tip_link, "object", object_pose_in_tip, { {} });
+  moveit::core::FixedTransformsMap subframes({ { "ignored", Eigen::Isometry3d::Identity() } });
+  attachToLink(state, tip_link, "object", object_pose_in_tip, subframes);
 
   // The RobotState should be able to use an object pose to set the joints
   Eigen::Isometry3d object_pose_in_base = tip_pose_in_base * object_pose_in_tip;
@@ -440,12 +441,12 @@ TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotStateWithTransformedC
   const moveit::core::LinkModel* tip_link = robot_model_->getLinkModel(tcp_link_);
   Eigen::Isometry3d tip_pose_in_base = state.getFrameTransform(tcp_link_);
 
-  // Attach an object with no subframes, and a non-trivial transform
+  // Attach an object with ignored subframes, and a non-trivial transform
   Eigen::Isometry3d object_pose_in_tip;
   object_pose_in_tip = Eigen::Translation3d(1, 2, 3);
   object_pose_in_tip *= Eigen::AngleAxis(M_PI_2, Eigen::Vector3d::UnitX());
-
-  attachToLink(state, tip_link, "object", object_pose_in_tip, { {} });
+  moveit::core::FixedTransformsMap subframes({ { "ignored", Eigen::Isometry3d::Identity() } });
+  attachToLink(state, tip_link, "object", object_pose_in_tip, subframes);
 
   // The RobotState should be able to use an object pose to set the joints
   Eigen::Isometry3d object_pose_in_base = tip_pose_in_base * object_pose_in_tip;