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Ports moveit1 #3689 (backport #3357)#3364

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sea-bass merged 2 commits intohumblefrom
mergify/bp/humble/pr-3357
Mar 6, 2025
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Ports moveit1 #3689 (backport #3357)#3364
sea-bass merged 2 commits intohumblefrom
mergify/bp/humble/pr-3357

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@mergify mergify bot commented Feb 27, 2025

Description

Ports moveit/moveit#3689, which avoids blocking the publishing of planning scenes during long operations, by copying planning scenes rather than locking the planning scene monitor.

Please backport to humble and jazzy when merged.

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers
This is an automatic backport of pull request #3357 done by [Mergify](https://mergify.com).

@riv-mjohnson @mergify
Ports moveit1 #3689 (#3357)
af4ebb0 
* Renames .hpp files to .h to help cherry pick.

* Publish planning scene while planning (#3689)

So far, the PSM's planning scene was locked during planning, thus stopping any PS updates in rviz.
Instead of locking the PSM's current scene, we use an independent clone of that scene for planning. To this end, PlanningSceneMonitor::copyPlanningScene() and ExecutableMotionPlan::copyPlanningScene() were added.

* Renames .h files back to .hpp.

* Updates message types to ros2.

* Updates to use new variable names.

* Undoes erroneous autoformatting.

(cherry picked from commit e2b24f5)

# Conflicts:
#	moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_action.cpp
#	moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
#	moveit_ros/planning/moveit_cpp/src/planning_component.cpp
#	moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
#	moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
@mergify mergify bot added the conflicts label Feb 27, 2025
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mergify bot commented Feb 27, 2025

Cherry-pick of e2b24f5 has failed:

On branch mergify/bp/humble/pr-3357
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit e2b24f5ac.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_service.cpp
	modified:   moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_action.cpp
	both modified:   moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
	both modified:   moveit_ros/planning/moveit_cpp/src/planning_component.cpp
	deleted by us:   moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
	both modified:   moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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riv-mjohnson commented Feb 27, 2025

#3366

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codecov-commenter commented Feb 28, 2025 •
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⚠️ Please install the 'codecov app svg image' to ensure uploads and comments are reliably processed by Codecov.

Codecov Report

Attention: Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.

Project coverage is 51.40%. Comparing base (624a579) to head (88bd36b).
Report is 1 commits behind head on humble.

Files with missing lines Patch % Lines
...nning_scene_monitor/src/planning_scene_monitor.cpp 0.00% 8 Missing ⚠️

❗ Your organization needs to install the Codecov GitHub app to enable full functionality.

Additional details and impacted files 
@@            Coverage Diff             @@
##           humble    #3364      +/-   ##
==========================================
- Coverage   51.40%   51.40%   -0.00%     
==========================================
  Files         382      382              
  Lines       31894    31902       +8     
==========================================
+ Hits        16393    16395       +2     
- Misses      15501    15507       +6

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riv-mjohnson commented Mar 6, 2025

@sjahr @sea-bass Thank you for approving the various ports of this PR.

Could this backport (and the Jazzy backport #3365) be merged?

@sea-bass sea-bass merged commit a77e957 into humble Mar 6, 2025
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@sea-bass sea-bass deleted the mergify/bp/humble/pr-3357 branch March 6, 2025 11:52
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