Merge branch 'main' into remove-humble-iron-repos-files

moveit · Nov 16, 2024 · 58b9e6e · 58b9e6e
2 parents 47f69d1 + f20265a
commit 58b9e6e
Show file tree

Hide file tree

Showing 6 changed files with 13 additions and 10 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -167,7 +167,7 @@ jobs:
           workdir: ${{ env.BASEDIR }}/target_ws
           ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
-        uses: codecov/codecov-action@v4
+        uses: codecov/codecov-action@v5
         if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info

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;

diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -356,10 +356,10 @@ void PlanningSceneDisplay::changedSceneName()
 void PlanningSceneDisplay::renderPlanningScene()
 {
   QColor color = scene_color_property_->getColor();
-  Ogre::ColourValue env_color(color.redF(), color.greenF(), color.blueF());
+  Ogre::ColourValue env_color(color.redF(), color.greenF(), color.blueF(), scene_alpha_property_->getFloat());
   if (attached_body_color_property_)
     color = attached_body_color_property_->getColor();
-  Ogre::ColourValue attached_color(color.redF(), color.greenF(), color.blueF());
+  Ogre::ColourValue attached_color(color.redF(), color.greenF(), color.blueF(), robot_alpha_property_->getFloat());
 
   try
   {

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -91,7 +91,7 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
     color.r = default_attached_color.r;
     color.g = default_attached_color.g;
     color.b = default_attached_color.b;
-    color.a = 1.0f;
+    color.a = default_attached_color.a;
     planning_scene::ObjectColorMap color_map;
     scene->getKnownObjectColors(color_map);
     scene_robot_->update(moveit::core::RobotStateConstPtr(rs), color, color_map);

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
@@ -145,7 +145,7 @@ void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPt
       RCLCPP_ERROR_STREAM(getLogger(), "Link " << attached_body->getAttachedLinkName() << " not found in rviz::Robot");
       continue;
     }
-    Ogre::ColourValue rcolor(color.r, color.g, color.b);
+    Ogre::ColourValue rcolor(color.r, color.g, color.b, color.a);
     const EigenSTL::vector_Isometry3d& ab_t = attached_body->getShapePosesInLinkFrame();
     const std::vector<shapes::ShapeConstPtr>& ab_shapes = attached_body->getShapes();
     for (std::size_t j = 0; j < ab_shapes.size(); ++j)