From 183e8becc635e633d8702833f8dc24721df39680 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 15 Nov 2024 11:48:19 +0000 Subject: [PATCH 1/4] =?UTF-8?q?=F0=9F=9B=A0=EF=B8=8F=20Bump=20codecov/code?= =?UTF-8?q?cov-action=20from=204=20to=205=20(#3094)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 4 to 5. - [Release notes](https://github.com/codecov/codecov-action/releases) - [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md) - [Commits](https://github.com/codecov/codecov-action/compare/v4...v5) --- updated-dependencies: - dependency-name: codecov/codecov-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/ci.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 7bed61c64d..fd1dc1a4c6 100644 --- 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 From 1944811f3dcd53d1ddf11ee92511a4bfe575fdeb Mon Sep 17 00:00:00 2001 From: Aiden <148049589+rr-aiden@users.noreply.github.com> Date: Fri, 15 Nov 2024 14:47:59 +0000 Subject: [PATCH 2/4] Attached Collision Object Transparency (#3093) * Allows attached collision objects to be transparent * Allows for config/RViz driven changing of the attached collision object transparency --------- Co-authored-by: Sebastian Jahr --- .../planning_scene_rviz_plugin/src/planning_scene_display.cpp | 4 ++-- .../rviz_plugin_render_tools/src/planning_scene_render.cpp | 2 +- .../src/robot_state_visualization.cpp | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) 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 index 00d84685a5..859d0c0b48 100644 --- 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 index d5ebca65e2..10b12aa76b 100644 --- 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 index 25c8ca8b09..7558fa7f23 100644 --- 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& ab_shapes = attached_body->getShapes(); for (std::size_t j = 0; j < ab_shapes.size(); ++j) From ce78cc46ec008a2238fbce06e28503a247780a17 Mon Sep 17 00:00:00 2001 From: Tom Noble Date: Fri, 15 Nov 2024 16:41:07 +0000 Subject: [PATCH 3/4] Fixes pilz tests (#3095) Co-authored-by: Sebastian Jahr --- .../unit_tests/src/unittest_trajectory_functions.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp index a0383aaa24..66cee20108 100644 --- a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp +++ b/moveit_planners/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; From f20265a5a2551b3270373d6ff6925c1299adc6c6 Mon Sep 17 00:00:00 2001 From: Tom Noble <53005340+TSNoble@users.noreply.github.com> Date: Sat, 16 Nov 2024 08:22:29 +0000 Subject: [PATCH 4/4] Fixes flaky RobotState test (#3105) * Fixes flaky RobotState test * Removes redundant line --- moveit_core/robot_state/test/robot_state_test.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp index bea2b7e229..e1d710805c 100644 --- 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);