Updated moveit2_tutorials cmake (moveit#43)

* updated cmake to colcon/ament * file cleanup and commented out unconfigured build_depend in package.xml * more cleanup * removed subdirectory moveit_cpp * Switch to travis-ci.com in readme links * fix to travis status in readme * Update conf.py to generate CNAME * updated to meta.keys() (moveit#45) * fix travis for custom domain (moveit#47) * updated cmake with moveit_package, removed empty cmake, added vcs file * package.xml cleanup * updated readme with source build instructions * updated travis to foxy * updated repos to include moveit2.repos * fixed typo * ament format * more ament formatting * removed code coverage ci test added moveit.repos * updated cmake to colcon/ament * file cleanup and commented out unconfigured build_depend in package.xml * more cleanup * removed subdirectory moveit_cpp * updated cmake with moveit_package, removed empty cmake, added vcs file * package.xml cleanup * updated readme with source build instructions * updated travis to foxy * updated repos to include moveit2.repos * fixed typo * ament format * more ament formatting * removed code coverage ci test added moveit.repos * fixed travis and repose files, rebased on main * re-added fix travis for custom domain Co-authored-by: Alex Goldman <[email protected]>
MikeWrock · Mar 5, 2021 · 6ebdf08 · 6ebdf08
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diff --git a/.travis.yml b/.travis.yml
@@ -1,32 +1,39 @@
-# Test build the MoveIt tutorials. Author: Dave Coleman
-sudo: required
-dist: xenial
-language: ruby
-rvm:
- - 2.7
-python:
- - "2.7"
+# This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci/ package.
+os: linux
+dist: bionic # distro used by Travis, moveit_ci uses the docker image's distro
+services:
+ - docker
+language: cpp
+cache: ccache
+compiler: gcc
+
+notifications:
+ email: true
 
 env:
  global:
- - SCRIPT=.moveit_ci/travis.sh
- - ROS_DISTRO=noetic
- - ROS_REPO=ros-testing
+ - MOVEIT_CI_TRAVIS_TIMEOUT=85 # Travis grants us 90 min, but we add a safety margin of 5 min
+ - ROS_DISTRO=foxy
+ - ROS_REPO=ros
+ - UPSTREAM_WORKSPACE="moveit2_tutorials.repos, moveit2.repos"
  - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
  - WARNINGS_OK=false
- - UPSTREAM_WORKSPACE="https://github.com/ros-planning/moveit_visual_tools
- https://github.com/ros-planning/panda_moveit_config"
- matrix:
- - SCRIPT=htmlproofer.sh
- - TEST="clang-format catkin_lint"
- - TEST="clang-tidy-fix"
- - DOCKER_IMAGE=moveit/moveit:master-source ROS_REPO=
+
+jobs:
+ fast_finish: true
+ include:
+ - name: "[Foxy] - htmlproofer"
+ env: SCRIPT=htmlproofer.sh
+ - name: "[Foxy] - clang-format, ament_lint"
+ env: TEST="clang-format ament_lint"
+ - name: "[Foxy] - gcc (build,test)"
+ env: ROS_DISTRO=foxy
 
 before_script:
- - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
+ - git clone -q -b ros2 --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
 
 script:
- ./$SCRIPT
+ - .moveit_ci/travis.sh
 
 deploy:
  # Deploy to gh-pages branch
@@ -40,4 +47,4 @@ deploy:
  on:
  branch: main
  condition: $SCRIPT = htmlproofer.sh
- fqdn: moveit2_tutorials.picknik.ai
+ fqdn: moveit2_tutorials.picknik.ai
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,75 +1,82 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.10.2)
 project(moveit2_tutorials)
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
-find_package(catkin REQUIRED
- COMPONENTS
- interactive_markers
- moveit_core
- moveit_ros_planning
- moveit_ros_planning_interface
- moveit_ros_perception
- rviz_visual_tools
- moveit_visual_tools
- pluginlib
- geometric_shapes
- pcl_ros
- pcl_conversions
- rosbag
- tf2_ros
- tf2_eigen
- tf2_geometry_msgs
-)
+# Common cmake code applied to all moveit packages
+find_package(moveit_common REQUIRED)
+moveit_package()
 
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED system filesystem date_time thread)
+find_package(ament_cmake REQUIRED)
+find_package(moveit_core REQUIRED)
+find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+find_package(moveit_ros_perception REQUIRED)
+find_package(interactive_markers REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+#find_package(moveit_visual_tools REQUIRED)
+find_package(geometric_shapes REQUIRED)
+#find_package(pcl_ros REQUIRED)
+#find_package(pcl_conversions REQUIRED)
+#find_package(rosbag REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
 set(THIS_PACKAGE_INCLUDE_DIRS
  doc/interactivity/include
 )
 
-catkin_package(
- LIBRARIES
- INCLUDE_DIRS
- CATKIN_DEPENDS
- moveit_core
- moveit_visual_tools
- moveit_ros_planning_interface
- interactive_markers
- tf2_geometry_msgs
- DEPENDS
- EIGEN3
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+ ament_cmake
+ rclcpp
+ rclcpp_action
+ tf2_geometry_msgs
+ tf2_ros
+ moveit_core
+ rviz_visual_tools
+ # moveit_visual_tools
+ moveit_ros_planning_interface
+ interactive_markers
+ tf2_geometry_msgs
+ moveit_ros_planning
+ pluginlib
+ Eigen3
+ Boost
 )
 
-###########
-## Build ##
-###########
-
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
-include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})
 
-add_subdirectory(doc/controller_configuration)
-add_subdirectory(doc/hand_eye_calibration)
-add_subdirectory(doc/interactivity)
-add_subdirectory(doc/kinematics)
-add_subdirectory(doc/motion_planning_api)
-add_subdirectory(doc/motion_planning_pipeline)
-add_subdirectory(doc/move_group_interface)
-add_subdirectory(doc/move_group_python_interface)
-add_subdirectory(doc/perception_pipeline)
-add_subdirectory(doc/pick_place)
-add_subdirectory(doc/planning)
-add_subdirectory(doc/planning_scene)
-add_subdirectory(doc/planning_scene_ros_api)
-add_subdirectory(doc/robot_model_and_robot_state)
-add_subdirectory(doc/state_display)
-add_subdirectory(doc/subframes)
-add_subdirectory(doc/tests)
-add_subdirectory(doc/trajopt_planner)
-add_subdirectory(doc/creating_moveit_plugins/lerp_motion_planner)
-add_subdirectory(doc/moveit_cpp)
-add_subdirectory(doc/collision_environments)
-add_subdirectory(doc/visualizing_collisions)
-add_subdirectory(doc/bullet_collision_checker)
+# add_subdirectory(doc/controller_configuration)
+# add_subdirectory(doc/interactivity)
+# add_subdirectory(doc/kinematics)
+# add_subdirectory(doc/motion_planning_api)
+# add_subdirectory(doc/motion_planning_pipeline)
+# add_subdirectory(doc/move_group_interface)
+# add_subdirectory(doc/move_group_python_interface)
+# add_subdirectory(doc/perception_pipeline)
+# add_subdirectory(doc/pick_place)
+# add_subdirectory(doc/planning)
+# add_subdirectory(doc/planning_scene)
+# add_subdirectory(doc/planning_scene_ros_api)
+# add_subdirectory(doc/robot_model_and_robot_state)
+# add_subdirectory(doc/state_display)
+# add_subdirectory(doc/subframes)
+# add_subdirectory(doc/tests)
+# add_subdirectory(doc/trajopt_planner)
+# add_subdirectory(doc/creating_moveit_plugins/lerp_motion_planner)
+# add_subdirectory(doc/moveit_cpp)
+# add_subdirectory(doc/collision_environments)
+# add_subdirectory(doc/visualizing_collisions)
+# add_subdirectory(doc/bullet_collision_checker)
+
+ament_export_dependencies(
+ ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+
+ament_export_include_directories(include)
+
+ament_package()
diff --git a/README.md b/README.md
@@ -2,7 +2,7 @@
 
 **NOTE: This repository is still being set up and is not ready for contributions. The content on this readme and most of the repo is still legacy content from the [MoveIt 1 tutorials](https://ros-planning.github.io/moveit_tutorials/).**
 
-This is the primary documentation for the MoveIt project. We strongly encourage you to help improve MoveIt's documentation. Please consider reading the guidelines below for writing the best documentation and tutorials. However, if you are uncomfortable with any of the approaches, simply adding documentation text to your pull requests is better than nothing.
+This is the primary documentation for the MoveIt2 project. We strongly encourage you to help improve MoveIt's documentation. Please consider reading the guidelines below for writing the best documentation and tutorials. However, if you are uncomfortable with any of the approaches, simply adding documentation text to your pull requests is better than nothing.
 
 These tutorials use the [reStructuredText](http://www.sphinx-doc.org/en/stable/rest.html) format commonly used in the Sphinx "Python Documentation Generator". This unfortunately differs from the common Markdown format, but its advantage is that it supports embedding code directly from source files for inline code tutorials.
 
@@ -26,12 +26,28 @@ Below are some links to help with the ports.
 
 ## Versions
 
-- ``indigo-devel`` usage is discouraged
-- ``kinetic-devel`` stable
-- ``melodic-devel`` stable
-- ``master`` latest, changes should target this branch
+- ``main`` latest, changes should target this branch
 
-## Build Locally
+## MoveIt2 Tutorials Source Build
+
+Follow the [MoveIt 2 Source Build](https://moveit.ros.org/install-moveit2/source/) instructions to setup a colcon workspace with moveit2 from source.
+
+Cd into your moveit2 colcon workspace:
+
+ cd $COLCON_WS/src
+
+Download Moveit2_tutorials Source Code
+
+ wget https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/main/moveit2_tutorials.repos
+ vcs import < moveit2_tutorials.repos
+ rosdep install -r --from-paths . --ignore-src --rosdistro foxy -y
+
+Configure and build the workspace:
+
+ cd $COLCON_WS
+ colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+## Build HTML Pages Locally
 
 If you want to test the tutorials by generating the html pages locally on your machine, you will first need to install the `rosdoc_lite` package, and then you can use the ``build_locally`` script.
 Run in the root of the moveit_tutorials package:

diff --git a/doc/controller_configuration/CMakeLists.txt b/doc/controller_configuration/CMakeLists.txt
@@ -1,6 +1,9 @@
-add_library(controller_manager_example src/moveit_controller_manager_example.cpp)
-target_link_libraries(controller_manager_example ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-install(TARGETS controller_manager_example DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+add_library(controller_manager_example
+ src/moveit_controller_manager_example.cpp)
+target_link_libraries(controller_manager_example
+ ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+install(TARGETS controller_manager_example DESTINATION
+ ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 # Need to use non-standard install location to find plugin description both in devel and install space
 install(FILES moveit_controller_manager_example_plugin_description.xml

diff --git a/doc/hand_eye_calibration/CMakeLists.txt b/doc/hand_eye_calibration/CMakeLists.txt
diff --git a/doc/motion_planning_api/CMakeLists.txt b/doc/motion_planning_api/CMakeLists.txt
@@ -1,5 +1,8 @@
-add_executable(motion_planning_api_tutorial src/motion_planning_api_tutorial.cpp)
-target_link_libraries(motion_planning_api_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-install(TARGETS motion_planning_api_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+add_executable(motion_planning_api_tutorial
+ src/motion_planning_api_tutorial.cpp)
+target_link_libraries(motion_planning_api_tutorial
+ ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+install(TARGETS motion_planning_api_tutorial DESTINATION
+ ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/doc/motion_planning_pipeline/CMakeLists.txt b/doc/motion_planning_pipeline/CMakeLists.txt
@@ -1,5 +1,8 @@
-add_executable(motion_planning_pipeline_tutorial src/motion_planning_pipeline_tutorial.cpp)
-target_link_libraries(motion_planning_pipeline_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-install(TARGETS motion_planning_pipeline_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+add_executable(motion_planning_pipeline_tutorial
+ src/motion_planning_pipeline_tutorial.cpp)
+target_link_libraries(motion_planning_pipeline_tutorial
+ ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+install(TARGETS motion_planning_pipeline_tutorial DESTINATION
+ ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/doc/move_group_interface/CMakeLists.txt b/doc/move_group_interface/CMakeLists.txt
@@ -1,5 +1,8 @@
-add_executable(move_group_interface_tutorial src/move_group_interface_tutorial.cpp)
-target_link_libraries(move_group_interface_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-install(TARGETS move_group_interface_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+add_executable(move_group_interface_tutorial
+ src/move_group_interface_tutorial.cpp)
+target_link_libraries(move_group_interface_tutorial
+ ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+install(TARGETS move_group_interface_tutorial DESTINATION
+ ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/doc/planning/CMakeLists.txt b/doc/planning/CMakeLists.txt
diff --git a/doc/planning_scene_ros_api/CMakeLists.txt b/doc/planning_scene_ros_api/CMakeLists.txt
@@ -1,5 +1,8 @@
-add_executable(planning_scene_ros_api_tutorial src/planning_scene_ros_api_tutorial.cpp)
-target_link_libraries(planning_scene_ros_api_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-install(TARGETS planning_scene_ros_api_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+add_executable(planning_scene_ros_api_tutorial
+ src/planning_scene_ros_api_tutorial.cpp)
+target_link_libraries(planning_scene_ros_api_tutorial
+ ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+install(TARGETS planning_scene_ros_api_tutorial DESTINATION
+ ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/doc/robot_model_and_robot_state/CMakeLists.txt b/doc/robot_model_and_robot_state/CMakeLists.txt
@@ -1,5 +1,8 @@
-add_executable(robot_model_and_robot_state_tutorial src/robot_model_and_robot_state_tutorial.cpp)
-target_link_libraries(robot_model_and_robot_state_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+add_executable(robot_model_and_robot_state_tutorial
+ src/robot_model_and_robot_state_tutorial.cpp)
+target_link_libraries(robot_model_and_robot_state_tutorial
+ ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS robot_model_and_robot_state_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(TARGETS robot_model_and_robot_state_tutorial DESTINATION
+ ${CATKIN_PACKAGE_BIN_DESTINATION})
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/moveit2.repos b/moveit2.repos
@@ -0,0 +1,47 @@
+repositories:
+ moveit2:
+ type: git
+ url: https://github.com/ros-planning/moveit2
+ version: main
+ moveit_msgs:
+ type: git
+ url: https://github.com/ros-planning/moveit_msgs
+ version: ros2
+ moveit_resources:
+ type: git
+ url: https://github.com/ros-planning/moveit_resources
+ version: ros2
+ geometric_shapes:
+ type: git
+ url: https://github.com/ros-planning/geometric_shapes
+ version: ros2
+ srdfdom:
+ type: git
+ url: https://github.com/ros-planning/srdfdom
+ version: ros2
+
+# TODO(#283): Switch to master after fixing breaking changes in ros2_control
+ ros2_control:
+ type: git
+ url: https://github.com/ros-controls/ros2_control
+ version: 2c3aad1cb8ad4d23925bceeb5c26e22d6cf859ef
+ ros2_controllers:
+ type: git
+ url: https://github.com/ros-controls/ros2_controllers
+ version: 8587e079490acdd0fabeb2742a3bec3bf551bbc5
+
+# TODO(JafarAbdi): Switch to upstream once PR https://github.com/tork-a/fake_joint/pull/7 is merged
+ fake_joint:
+ type: git
+ url: https://github.com/JafarAbdi/fake_joint
+ version: foxy
+
+ warehouse_ros:
+ type: git
+ url: https://github.com/ros-planning/warehouse_ros
+ version: ros2
+
+ warehouse_ros_mongo:
+ type: git
+ url: https://github.com/ros-planning/warehouse_ros_mongo
+ version: ros2
diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos
@@ -0,0 +1,9 @@
+repositories:
+ moveit2_tutorials:
+ type: git
+ url: https://github.com/ros-planning/moveit2_tutorials.git
+ version: main
+ rviz_visual_tools:
+ type: git
+ url: https://github.com/PickNikRobotics/rviz_visual_tools.git
+ version: foxy-devel