Merge moveit/moveit@865c261

MIGRATION.md

@@ -29,6 +29,7 @@ API changes in MoveIt releases
 - The joint states of `passive` joints must be published in ROS and the CurrentStateMonitor will now wait for them as well. Their semantics dictate that they cannot be actively controlled, but they must be known to use the full robot state in collision checks. (https://github.com/ros-planning/moveit/pull/2663)
 - Removed deprecated header `moveit/macros/deprecation.h`. Use `[[deprecated]]` instead.
 - All uses of `MOVEIT_CLASS_FORWARD` et. al. must now be followed by a semicolon for consistency (and to get -pedantic builds to pass for the codebase).
+- In case you start RViz in a namespace, the default topic for the trajectory visualization display now uses the relative instead of the absolute namespace (i.e. `<ns>/move_group/display_planned_path` instead of `/move_group/display_planned_path`).
 
 ## ROS Melodic
 

moveit_commander/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_commander</name>
-  <version>1.1.5</version>
+  <version>1.1.6</version>
   <description>Python interfaces to MoveIt</description>
   <maintainer email="[email protected]">Michael Görner</maintainer>
   <maintainer email="[email protected]">Robert Haschke</maintainer>

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h

@@ -409,7 +409,7 @@ inline btScalar addDiscreteSingleResult(btManifoldPoint& cp, const btCollisionOb
   contact.nearest_points[1] = convertBtToEigen(cp.m_positionWorldOnB);
 
   contact.body_type_1 = cd0->getTypeID();
-  contact.body_type_2 = cd0->getTypeID();
+  contact.body_type_2 = cd1->getTypeID();
 
   if (!processResult(collisions, contact, pc, found))
   {
@@ -442,7 +442,7 @@ inline btScalar addCastSingleResult(btManifoldPoint& cp, const btCollisionObject
   contact.pos = convertBtToEigen(cp.m_positionWorldOnA);
 
   contact.body_type_1 = cd0->getTypeID();
-  contact.body_type_2 = cd0->getTypeID();
+  contact.body_type_2 = cd1->getTypeID();
 
   collision_detection::Contact* col = processResult(collisions, contact, pc, found);
 

moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp

@@ -313,6 +313,21 @@ TEST_F(BulletCollisionDetectionTester, ContinuousCollisionWorld)
   cenv_->checkRobotCollision(req, res, state1, state2, *acm_);
   ASSERT_TRUE(res.collision);
   ASSERT_EQ(res.contact_count, 4u);
+  // test contact types
+  for (auto& contact_pair : res.contacts)
+  {
+    for (collision_detection::Contact& contact : contact_pair.second)
+    {
+      collision_detection::BodyType contact_type1 = contact.body_name_1 == "box" ?
+                                                        collision_detection::BodyType::WORLD_OBJECT :
+                                                        collision_detection::BodyType::ROBOT_LINK;
+      collision_detection::BodyType contact_type2 = contact.body_name_2 == "box" ?
+                                                        collision_detection::BodyType::WORLD_OBJECT :
+                                                        collision_detection::BodyType::ROBOT_LINK;
+      ASSERT_EQ(contact.body_type_1, contact_type1);
+      ASSERT_EQ(contact.body_type_2, contact_type2);
+    }
+  }
   res.clear();
 }
 

moveit_core/robot_state/include/moveit/robot_state/robot_state.h

@@ -1225,6 +1225,15 @@ class RobotState
   /** \brief Set the joints in \e group to the position \e name defined in the SRDF */
   bool setToDefaultValues(const JointModelGroup* group, const std::string& name);
 
+  bool setToDefaultValues(const std::string& group_name, const std::string& state_name)
+  {
+    const JointModelGroup* jmg = getJointModelGroup(group_name);
+    if (jmg)
+      return setToDefaultValues(jmg, state_name);
+    else
+      return false;
+  }
+
   /** \brief Set all joints to random values.  Values will be within default bounds. */
   void setToRandomPositions();
 

moveit_planners/chomp/chomp_interface/package.xml

@@ -2,7 +2,7 @@
   <name>moveit_planners_chomp</name>
   <description>The interface for using CHOMP within MoveIt</description>
 
-  <version>1.1.5</version>
+  <version>1.1.6</version>
   <author email="[email protected]">Gil Jones</author>
 
   <maintainer email="[email protected]">Chittaranjan Srinivas Swaminathan</maintainer>

moveit_planners/chomp/chomp_motion_planner/package.xml

@@ -2,7 +2,7 @@
   <name>chomp_motion_planner</name>
   <description>chomp_motion_planner</description>
 
-  <version>1.1.5</version>
+  <version>1.1.6</version>
   <author email="[email protected]">Gil Jones</author>
   <author email="[email protected]">Mrinal Kalakrishnan</author>
 

moveit_planners/chomp/chomp_optimizer_adapter/package.xml

@@ -3,7 +3,7 @@
   <name>moveit_chomp_optimizer_adapter</name>
   <description>MoveIt planning request adapter utilizing chomp for solution optimization</description>
 
-  <version>1.1.5</version>
+  <version>1.1.6</version>
   <author email="[email protected]">Raghavender Sahdev</author>
   <maintainer email="[email protected]">Raghavender Sahdev</maintainer>
   <maintainer email="[email protected]">MoveIt Release Team</maintainer>