)

There's no hard reason to do it this way or the other,
but a user reported unverified issues with the global include.

"attach_posture" is plain wrong.

I don't see why clang-tidy did not find this before.

to resolve links for attached objects as well

Merge branch 'pr-master-state-rigidly-attached-parent'

…gs (moveit#2928)

While we need to pass execution_type to fake_moveit_controller_manager.launch,
the controller_manager.launch files of real-robot shouldn't be required
to define this argument. However, if they don't roslaunch fails with an
`unused args` exception (see moveit#2786).
Passing arguments via pass_all_args should solve that issue.

* Switch CCOV to build type Debug
  RelWithDebInfo was using -DNDEBUG, thus ignoring all assertions.
  Also use -fno-omit-frame-pointer to have better coverage analysis.
* Use lcov-action to generate coverage info
* Unify syntax of `if` conditions

* fix enforce position bug

* remove unnecessary variable

* make clang tidy happy

* Update my comment

* implement same logic as in the moveit2! repo

* fix copy-pase error

Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>
Co-authored-by: AndyZe <andyz@utexas.edu>

- Downgrade ERROR to WARN
- Report affected joint name
- Quote (possibly empty) planner id

When planning an arm motion, Pilz's PTP planner shouldn't complain (and bail out)
on missing joint limits of hand joints!

Just complain about negative / zero values.

Otherwise, on a failure, the implicitly used success() will skip the step.

Gazebo requires a fixed joint from world to the first robot link.
This resembles the virtual_joint of SRDF.
However, the RobotModel parser issues the following warning:
Skipping virtual joint 'xxx' because its child frame 'xxx' does not match the URDF frame 'world'

Fixes the following error (occurring since 61d18f2)
```
[FATAL] ros.moveit_ros_planning.trajectory_execution_manager:
  Exception while loading controller manager 'robot':
  According to the loaded plugin descriptions the class robot
  with base class type moveit_controller_manager::MoveItControllerManager does not exist.
```

As we introduced `pass_all_args="true"`, the value of the argument
`moveit_controller_manager` was the robot name.

There are 3 basic MoveIt controller manager plugins:
- fake = `moveit_fake_controller_manager::MoveItFakeControllerManager`
  Used in demo.launch. Doesn't really control the robot, but just
  interpolates between via points. Allows these execution_types:
  - via points: just jumps to the via points
  - interpolate: linearly interpolates between via points (default)
  - last point: jumps to the final trajectory point (used for fast execution testing)

- ros_control = `moveit_ros_control_interface::MoveItControllerManager`
  Interfaces to ros_control controllers.

- simple = `moveit_simple_controller_manager/MoveItSimpleControllerManager`
  Interfaces to action servers for `FollowJointTrajectory` and/or `GripperCommand`
  that in turn interface to the low-level robot controllers (typically based on ros_control)

However, so far move_group.launch distinguished between `fake` and `robot` only.
The argument moveit_controller_manager now allows switching between all 3 variants.
Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.

- Reading both, the default and the existing package's sensors_3d.yaml
  into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting "None" was writing an invalid config:
  sensors:
    - {}
    - {}

We should write separate controller config files for different controller managers:
- simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager
- ros_controllers.yaml handles ros_control config
- gazebo_controllers.yaml handles controllers required for Gazebo

Get parameter `trajectory_execution.execution_duration_monitoring` in
initialize().


Co-authored-by: Gaël Écorchard <gael.ecorchard@cvut.cz>

* Use a map of expected feedback codes

* Use a constexpr function instead of unordered_map

* Don't need this #include

* Minor function renaming

Co-authored-by: Jean-Christophe Ruel <jeanchristophe.ruel@elmec.ca>

* Create a copy of the planning scene. const robot state.

* Use LockedPlanningSceneRO over lockSceneRead()

* Use lambda function

* Use jammy dockers and clang-format-12
* Fix unused depend, and move to python3-lxml
* add ompl to repos, fix versions and ogre
* Remove ogre keys
* Fix boolean node operator
* Stop building dockers on branch and fix servo null pointer
* update pre-commit to clang-format-12 and pre-commit fixes
* clang-format workaround and more pre-commit fixes

* Add galactic CI
* Comment out rolling
* panda_ros_controllers -> panda_ros2_controllers
* Ignore flake8 tests

…oveit#1100)

* No lock in planning_component.cpp

* Make lockSceneRead(), lockSceneWrite() protected

* Add a migration note