Merge branch 'main' into configs_fixes

moveit · Mar 10, 2022 · bd35f58 · bd35f58
2 parents 4647fea + 2c75c9f
commit bd35f58
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Showing 7 changed files with 14 additions and 9 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -16,12 +16,16 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: rolling-ci
+          # - IMAGE: rolling-ci
+          #   ROS_DISTRO: rolling
+          # - IMAGE: rolling-ci-testing
+          #   ROS_DISTRO: rolling
+          - IMAGE: galactic-ci
             CCOV: true
-            ROS_DISTRO: rolling
-          - IMAGE: rolling-ci-testing
+            ROS_DISTRO: galactic
+          - IMAGE: galactic-ci-testing
+            ROS_DISTRO: galactic
             IKFAST_TEST: true
-            ROS_DISTRO: rolling
             CLANG_TIDY: pedantic
     env:
       CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"

diff --git a/moveit_ros/moveit_servo/launch/pose_tracking_example.launch.py b/moveit_ros/moveit_servo/launch/pose_tracking_example.launch.py
@@ -69,7 +69,7 @@ def generate_launch_description():
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros_controllers.yaml",
+        "panda_ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",

diff --git a/moveit_ros/moveit_servo/launch/servo_example.launch.py b/moveit_ros/moveit_servo/launch/servo_example.launch.py
@@ -70,7 +70,7 @@ def generate_launch_description():
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros_controllers.yaml",
+        "panda_ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",

diff --git a/moveit_ros/moveit_servo/test/launch/servo_launch_test_common.py b/moveit_ros/moveit_servo/test/launch/servo_launch_test_common.py
@@ -47,7 +47,7 @@ def generate_servo_test_description(
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros_controllers.yaml",
+        "panda_ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",

diff --git a/moveit_ros/moveit_servo/test/launch/test_servo_pose_tracking.test.py b/moveit_ros/moveit_servo/test/launch/test_servo_pose_tracking.test.py
@@ -34,7 +34,7 @@ def generate_servo_test_description(*args, gtest_name: SomeSubstitutionsType):
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros_controllers.yaml",
+        "panda_ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",

diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
@@ -110,6 +110,7 @@ if(BUILD_TESTING)
   set(ament_cmake_cppcheck_FOUND TRUE)
   set(ament_cmake_cpplint_FOUND TRUE)
   set(ament_cmake_uncrustify_FOUND TRUE)
+  set(ament_cmake_flake8_FOUND TRUE)
 
   # Run all lint tests in package.xml except those listed above
   ament_lint_auto_find_test_dependencies()

diff --git a/moveit_ros/planning_interface/test/launch/move_group_launch_test_common.py b/moveit_ros/planning_interface/test/launch/move_group_launch_test_common.py
@@ -55,7 +55,7 @@ def generate_move_group_test_description(*args, gtest_name: SomeSubstitutionsTyp
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros_controllers.yaml",
+        "panda_ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",