From 821b5951f1e78d7e4364494a8514b369802d4fba Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Mon, 2 Dec 2024 11:21:22 +0100 Subject: [PATCH 1/3] Silent pybind11 warning --- core/cmake/pybind11.cmake.in | 2 +- core/python/CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/core/cmake/pybind11.cmake.in b/core/cmake/pybind11.cmake.in index 330fb73e5..15326d7de 100644 --- a/core/cmake/pybind11.cmake.in +++ b/core/cmake/pybind11.cmake.in @@ -1,5 +1,5 @@ # pybind11 must use the ROS python version -set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION_STRING}) +set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION}) if(@INSTALLSPACE@) include(${CMAKE_CURRENT_LIST_DIR}/pybind11Config.cmake) diff --git a/core/python/CMakeLists.txt b/core/python/CMakeLists.txt index 48bb60fa5..ebbb59f94 100644 --- a/core/python/CMakeLists.txt +++ b/core/python/CMakeLists.txt @@ -1,7 +1,7 @@ # We rely on pybind11's smart_holder branch imported pybind11 via git submodule # pybind11 must use the ROS python version -set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION_STRING}) +set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION}) # Use minimum-size optimization for pybind11 bindings add_compile_options("-Os") From f5a0a545e51d044cb19000ce8768470e67557b9a Mon Sep 17 00:00:00 2001 From: JafarAbdi Date: Thu, 24 Oct 2024 18:29:07 +0100 Subject: [PATCH 2/3] python: Add Task::setRobotModel --- core/python/bindings/src/core.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/core/python/bindings/src/core.cpp b/core/python/bindings/src/core.cpp index 2d2dfa3f6..a926778ab 100644 --- a/core/python/bindings/src/core.cpp +++ b/core/python/bindings/src/core.cpp @@ -414,6 +414,7 @@ void export_core(pybind11::module& m) { .def("loadRobotModel", &Task::loadRobotModel, "robot_description"_a = "robot_description", "Load robot model from given ROS parameter") + .def("setRobotModel", &Task::setRobotModel, "robot_model"_a, "Set the robot model for the task") .def("getRobotModel", &Task::getRobotModel) .def("enableIntrospection", &Task::enableIntrospection, "enabled"_a = true, "Enable publishing intermediate results for inspection in ``rviz``") From d5e1376b08450391f80e74eb51070cf1f1ae1453 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Wed, 4 Dec 2024 13:29:21 +0100 Subject: [PATCH 3/3] Add Jammy build --- .github/workflows/ci.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 1ee865b53..19d75e1d2 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -19,6 +19,7 @@ jobs: fail-fast: false matrix: env: + - IMAGE: jammy-ci - IMAGE: noetic-source NAME: ccov TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage" @@ -38,7 +39,7 @@ jobs: CATKIN_LINT: true CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }} - UNDERLAY: /root/ws_moveit/install + UNDERLAY: ${{ matrix.env.IMAGE != 'jammy-ci' && '/root/ws_moveit/install' || '' }} DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master" CCACHE_DIR: ${{ github.workspace }}/.ccache BASEDIR: ${{ github.workspace }}/.work