Latest Noetic forward ports to ROS 2 affected MoveIt 2 CI

[sea-bass]

The forward ports in #239 have caused a regression in MoveIt 2 CI, which uses geometric_shapes for path constraints.

Interestingly enough, the only breakage has to do with running the main branch of MoveIt 2 on ROS 2 Humble. I suspect there is some dependency back in Ubuntu 22.04 that makes things not happy.

See moveit/moveit2#3130 for more details.

I reverted the entire commit and it does solve the issue. I'm now running a bisection of the changes to pinpoint exactly what it was. Will update this issue.

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[sea-bass]

Yep. It's this: b00b1e5

@peci1 if you don't mind, I'm going to cherry-pick this to ros2 now: b00b1e5

[peci1]

Thanks for the quick action.

I actually asked if breaking ABI on the ros2 branch is a problem, but none of the maintainers objected: #239 (review) .

Now the question is when will be the right time to remove the ABI compatibility fix... When a new ROS2 distro is branched off?

[sea-bass]

Given that the failure was only on Humble, I suspect it will be OK as soon as MoveIt's main branch is deemed no longer compatible (it still is!).

That call could actually be made now if needed, but I figured this change was resolvable.

It would mean needing to branch a humble version on this repo though.