Merge branch 'main' into magical_strings

moveit · Dec 6, 2021 · 56f9e28 · 56f9e28
2 parents ff871fa + 2830dd8
commit 56f9e28
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diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -27,6 +27,8 @@ jobs:
       CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"
       DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: moveit2.repos $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
+      # TODO(#885): Fix circular test dependency with moveit_resources and remove it from the target workspace
+      TARGET_WORKSPACE: $TARGET_REPO_PATH github:ros-planning/moveit_resources#ros2
       # Pull any updates to the upstream workspace (after restoring it from cache)
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src

diff --git a/moveit2.repos b/moveit2.repos
@@ -3,10 +3,11 @@ repositories:
     type: git
     url: https://github.com/ros-planning/geometric_shapes
     version: ros2
-  moveit_resources:
-    type: git
-    url: https://github.com/ros-planning/moveit_resources
-    version: ros2
+  # TODO(#885): Re-enable when circular dependency is fixed
+  # moveit_resources:
+  #   type: git
+  #   url: https://github.com/ros-planning/moveit_resources
+  #   version: ros2
   warehouse_ros:
     type: git
     url: https://github.com/ros-planning/warehouse_ros

diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml
@@ -24,10 +24,7 @@
   <exec_depend>moveit_planners_chomp</exec_depend>
   -->
   <exec_depend>moveit_planners_ompl</exec_depend>
-  <!--
-  TODO(#315): Enable after Pilz motion planner has been ported
   <exec_depend>pilz_industrial_motion_planner</exec_depend>
-  -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>