Merge branch 'main' into optional

moveit · Feb 23, 2024 · 147bcce · 147bcce
2 parents fd4037a + 5887eb0
commit 147bcce
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Showing 4 changed files with 17 additions and 6 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -97,32 +97,35 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
+          save-always: true
         env:
           CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: Cache target workspace
         if: "!matrix.env.CCOV"
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
+          save-always: true
         env:
           CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ${{ env.CACHE_PREFIX }}
+          save-always: true
         env:
           CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
       - name: Configure ccache

diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml
@@ -71,21 +71,23 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
+          save-always: true
         env:
           CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-rolling-ci-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-rolling-ci-ccov-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ccache-rolling-ci-ccov-${{ github.sha }}
             ccache-rolling-ci-ccov
+          save-always: true
       - name: Configure ccache
         run: |
           mkdir -p ${{ env.CCACHE_DIR }}

diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py
@@ -197,7 +197,12 @@ def generate_move_group_launch(moveit_config):
         DeclareBooleanLaunchArg("publish_monitored_planning_scene", default_value=True)
     )
     # load non-default MoveGroup capabilities (space separated)
-    ld.add_action(DeclareLaunchArgument("capabilities", default_value=""))
+    ld.add_action(
+        DeclareLaunchArgument(
+            "capabilities",
+            default_value=moveit_config.move_group_capabilities["capabilities"],
+        )
+    )
     # inhibit these default MoveGroup capabilities (space separated)
     ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))
 

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -68,6 +68,7 @@ add_subdirectory(version)
 
 install(
   TARGETS collision_detector_bullet_plugin
+          collision_detector_fcl_plugin
           moveit_acceleration_filter
           moveit_acceleration_filter_parameters
           moveit_butterworth_filter