Merge branch 'main' into parallel_gripper_controller

moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.hpp

@@ -78,7 +78,7 @@ c --------x--- v   |
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/robot_state/robot_state.hpp>
 #include <moveit/utils/logger.hpp>
-#include <moveit_acceleration_filter_parameters.hpp>
+#include <moveit_core/moveit_acceleration_filter_parameters.hpp>
 
 #include <osqp.h>
 #include <types.h>

moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/butterworth_filter.hpp

@@ -41,9 +41,9 @@
 
 #include <cstddef>
 
-#include <moveit_butterworth_filter_parameters.hpp>
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/online_signal_smoothing/smoothing_base_class.hpp>
+#include <moveit_core/moveit_butterworth_filter_parameters.hpp>
 
 namespace online_signal_smoothing
 {

moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/ruckig_filter.hpp

@@ -42,7 +42,7 @@ Description: Applies jerk/acceleration/velocity limits to online motion commands
 
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/online_signal_smoothing/smoothing_base_class.hpp>
-#include <moveit_ruckig_filter_parameters.hpp>
+#include <moveit_core/moveit_ruckig_filter_parameters.hpp>
 
 #include <ruckig/ruckig.hpp>
 

moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.hpp

@@ -55,8 +55,8 @@
 #include <unordered_map>
 #include <utility>
 #include <filesystem>
-#include <cached_ik_kinematics_parameters.hpp>
 #include <moveit/utils/logger.hpp>
+#include <moveit_kinematics/cached_ik_kinematics_parameters.hpp>
 
 namespace cached_ik_kinematics_plugin
 {

moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp

@@ -47,8 +47,8 @@
 #include <Eigen/Geometry>
 #include <tf2_kdl/tf2_kdl.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <ikfast_kinematics_parameters.hpp>
 #include <moveit/utils/logger.hpp>
+#include <_PACKAGE_NAME_/ikfast_kinematics_parameters.hpp>
 
 using namespace moveit::core;
 

moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.hpp

@@ -39,7 +39,6 @@
 // ROS
 #include <rclcpp/rclcpp.hpp>
 #include <random_numbers/random_numbers.h>
-#include <kdl_kinematics_parameters.hpp>
 
 // ROS msgs
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -58,6 +57,7 @@
 #include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/robot_state/robot_state.hpp>
+#include <moveit_kinematics/kdl_kinematics_parameters.hpp>
 
 #include <cfloat>
 

moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp

@@ -43,7 +43,6 @@
 
 // ROS2
 #include <rclcpp/rclcpp.hpp>
-#include <srv_kinematics_parameters.hpp>
 
 // System
 #include <memory>
@@ -56,6 +55,7 @@
 // MoveIt
 #include <moveit/kinematics_base/kinematics_base.hpp>
 #include <moveit/robot_state/robot_state.hpp>
+#include <moveit_kinematics/srv_kinematics_parameters.hpp>
 
 namespace srv_kinematics_plugin
 {

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/command_list_manager.hpp

@@ -48,7 +48,7 @@
 #include <pilz_industrial_motion_planner/trajectory_blender.hpp>
 #include <pilz_industrial_motion_planner/trajectory_generation_exceptions.hpp>
 
-#include <cartesian_limits_parameters.hpp>
+#include <pilz_industrial_motion_planner/cartesian_limits_parameters.hpp>
 
 namespace pilz_industrial_motion_planner
 {

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/limits_container.hpp

@@ -37,7 +37,7 @@
 #include <pilz_industrial_motion_planner/joint_limits_container.hpp>
 #include <math.h>
 
-#include "cartesian_limits_parameters.hpp"
+#include <pilz_industrial_motion_planner/cartesian_limits_parameters.hpp>
 
 namespace pilz_industrial_motion_planner
 {

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/pilz_industrial_motion_planner.hpp

@@ -45,7 +45,7 @@
 #include <pluginlib/class_loader.hpp>
 #include <memory>
 
-#include <cartesian_limits_parameters.hpp>
+#include <pilz_industrial_motion_planner/cartesian_limits_parameters.hpp>
 
 namespace pilz_industrial_motion_planner
 {

moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp

@@ -44,7 +44,7 @@
 #include <moveit/robot_state/conversions.hpp>
 #include <moveit/utils/logger.hpp>
 
-#include "cartesian_limits_parameters.hpp"
+#include <pilz_industrial_motion_planner/cartesian_limits_parameters.hpp>
 #include <pilz_industrial_motion_planner/joint_limits_aggregator.hpp>
 #include <pilz_industrial_motion_planner/tip_frame_getter.hpp>
 #include <pilz_industrial_motion_planner/trajectory_blend_request.hpp>

moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp

@@ -40,7 +40,7 @@
 #include <pilz_industrial_motion_planner/planning_context_loader_ptp.hpp>
 #include <pilz_industrial_motion_planner/planning_exceptions.hpp>
 
-#include "cartesian_limits_parameters.hpp"
+#include <pilz_industrial_motion_planner/cartesian_limits_parameters.hpp>
 #include <pilz_industrial_motion_planner/joint_limits_aggregator.hpp>
 
 #include <pluginlib/class_list_macros.hpp>

moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp

@@ -53,7 +53,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "cartesian_limits_parameters.hpp"
+#include <pilz_industrial_motion_planner/cartesian_limits_parameters.hpp>
 
 const std::string PARAM_MODEL_NO_GRIPPER_NAME{ "robot_description" };
 const std::string PARAM_MODEL_WITH_GRIPPER_NAME{ "robot_description_pg70" };

moveit_planners/stomp/include/stomp_moveit/stomp_moveit_planning_context.hpp

@@ -41,7 +41,7 @@
 
 #include <moveit/planning_interface/planning_interface.hpp>
 
-#include <stomp_moveit_parameters.hpp>
+#include <moveit_planners_stomp/stomp_moveit_parameters.hpp>
 
 // Forward declaration
 namespace stomp

moveit_planners/stomp/src/stomp_moveit_planning_context.cpp

@@ -47,7 +47,7 @@
 #include <stomp_moveit/noise_generators.hpp>
 #include <stomp_moveit/cost_functions.hpp>
 #include <stomp_moveit/stomp_moveit_task.hpp>
-#include <stomp_moveit_parameters.hpp>
+#include <moveit_planners_stomp/stomp_moveit_parameters.hpp>
 
 #include <moveit/constraint_samplers/constraint_sampler_manager.hpp>
 #include <moveit/robot_state/conversions.hpp>

moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp

@@ -52,7 +52,7 @@
 #include <tf2_kdl/tf2_kdl.hpp>
 #include <moveit/kinematics_base/kinematics_base.hpp>
 #include <moveit/robot_state/robot_state.hpp>
-#include <prbt_ikfast_kinematics_parameters.hpp>
+#include <moveit_resources_prbt_ikfast_manipulator_plugin/prbt_ikfast_kinematics_parameters.hpp>
 
 using namespace moveit::core;
 

moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp

@@ -34,7 +34,7 @@
 
 #include <moveit/hybrid_planning_manager/hybrid_planning_manager.hpp>
 #include <moveit/hybrid_planning_manager/hybrid_planning_events.hpp>
-#include <hp_manager_parameters.hpp>
+#include <moveit_hybrid_planning/hp_manager_parameters.hpp>
 #include <moveit/utils/logger.hpp>
 
 namespace moveit::hybrid_planning

moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp

@@ -33,7 +33,7 @@
  *********************************************************************/
 
 #include <moveit/local_planner/local_planner_component.hpp>
-#include <local_planner_parameters.hpp>
+#include <moveit_hybrid_planning/local_planner_parameters.hpp>
 
 #include <moveit/planning_scene/planning_scene.hpp>
 #include <moveit/robot_state/robot_state.hpp>

moveit_ros/moveit_servo/include/moveit_servo/collision_monitor.hpp

@@ -41,9 +41,9 @@
 
 #pragma once
 
-#include <moveit_servo_lib_parameters.hpp>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
 #include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit_servo/moveit_servo_lib_parameters.hpp>
 
 namespace moveit_servo
 {

moveit_ros/moveit_servo/include/moveit_servo/servo.hpp

@@ -41,8 +41,8 @@
 
 #pragma once
 
-#include <moveit_servo_lib_parameters.hpp>
 #include <moveit_servo/collision_monitor.hpp>
+#include <moveit_servo/moveit_servo_lib_parameters.hpp>
 #include <moveit_servo/utils/command.hpp>
 #include <moveit_servo/utils/datatypes.hpp>
 #include <moveit/kinematics_base/kinematics_base.hpp>

moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <moveit_servo_lib_parameters.hpp>
+#include <moveit_servo/moveit_servo_lib_parameters.hpp>
 #include <moveit_servo/utils/datatypes.hpp>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
 #include <moveit/robot_model/joint_model_group.hpp>

moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.hpp

@@ -39,8 +39,8 @@
 #include <moveit/macros/class_forward.hpp>
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/kinematics_base/kinematics_base.hpp>
-#include <kinematics_parameters.hpp>
 #include <moveit/utils/logger.hpp>
+#include <moveit_ros_planning/kinematics_parameters.hpp>
 
 namespace kinematics_plugin_loader
 {

moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.hpp

@@ -49,7 +49,7 @@
 #include <moveit_msgs/msg/pipeline_state.hpp>
 #include <memory>
 #include <moveit_planning_pipeline_export.h>
-#include <planning_pipeline_parameters.hpp>
+#include <moveit_ros_planning/planning_pipeline_parameters.hpp>
 
 namespace planning_pipeline
 {

moveit_ros/planning/planning_request_adapter_plugins/src/check_for_stacked_constraints.cpp

@@ -43,7 +43,7 @@
 #include <rclcpp/node.hpp>
 #include <moveit/utils/logger.hpp>
 
-#include <default_request_adapter_parameters.hpp>
+#include <moveit_ros_planning/default_request_adapter_parameters.hpp>
 
 namespace default_planning_request_adapters
 {

moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_bounds.cpp

@@ -53,7 +53,7 @@
 #include <rclcpp/parameter_value.hpp>
 #include <moveit/utils/logger.hpp>
 
-#include <default_request_adapter_parameters.hpp>
+#include <moveit_ros_planning/default_request_adapter_parameters.hpp>
 
 namespace default_planning_request_adapters
 {

moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_collision.cpp

@@ -45,7 +45,7 @@
 #include <rclcpp/parameter_value.hpp>
 #include <moveit/utils/logger.hpp>
 
-#include <default_request_adapter_parameters.hpp>
+#include <moveit_ros_planning/default_request_adapter_parameters.hpp>
 
 namespace default_planning_request_adapters
 {

moveit_ros/planning/planning_request_adapter_plugins/src/validate_workspace_bounds.cpp

@@ -44,7 +44,7 @@
 #include <rclcpp/node.hpp>
 #include <moveit/utils/logger.hpp>
 
-#include <default_request_adapter_parameters.hpp>
+#include <moveit_ros_planning/default_request_adapter_parameters.hpp>
 
 namespace default_planning_request_adapters
 {

moveit_ros/planning/planning_response_adapter_plugins/src/add_time_optimal_parameterization.cpp

@@ -39,7 +39,7 @@
 #include <class_loader/class_loader.hpp>
 #include <moveit/utils/logger.hpp>
 
-#include <default_response_adapter_parameters.hpp>
+#include <moveit_ros_planning/default_response_adapter_parameters.hpp>
 
 namespace default_planning_response_adapters
 {

moveit_ros/planning/planning_response_adapter_plugins/src/display_motion_path.cpp

@@ -42,7 +42,7 @@
 #include <moveit/utils/logger.hpp>
 #include <moveit_msgs/msg/display_trajectory.hpp>
 
-#include <default_response_adapter_parameters.hpp>
+#include <moveit_ros_planning/default_response_adapter_parameters.hpp>
 
 namespace default_planning_response_adapters
 {

moveit_ros/planning/planning_response_adapter_plugins/src/validate_path.cpp

@@ -42,7 +42,8 @@
 #include <visualization_msgs/msg/marker_array.hpp>
 #include <moveit/collision_detection/collision_tools.hpp>
 
-#include <default_response_adapter_parameters.hpp>
+#include <moveit_ros_planning/default_response_adapter_parameters.hpp>
+
 namespace default_planning_response_adapters
 {
 /**

moveit_setup_assistant/moveit_setup_assistant/src/collisions_updater.cpp

@@ -100,7 +100,7 @@ int main(int argc, char* argv[])
     auto package_settings = config_data->get<moveit_setup::PackageSettingsConfig>("package_settings");
     try
     {
-      package_settings->loadExisting(config_pkg_path);
+      package_settings->loadExisting(config_pkg_path.string());
     }
     catch (const std::runtime_error& e)
     {
@@ -113,7 +113,7 @@ int main(int argc, char* argv[])
     RCLCPP_ERROR_STREAM(node->get_logger(), "Please provide config package or URDF and SRDF path");
     return 1;
   }
-  else if (rdf_loader::RDFLoader::isXacroFile(srdf_path) && output_path.empty())
+  else if (rdf_loader::RDFLoader::isXacroFile(srdf_path.string()) && output_path.empty())
   {
     RCLCPP_ERROR_STREAM(node->get_logger(), "Please provide a different output file for SRDF xacro input file");
     return 1;

moveit_setup_assistant/moveit_setup_assistant/src/setup_assistant_widget.cpp

@@ -71,7 +71,7 @@ SetupAssistantWidget::SetupAssistantWidget(const rviz_common::ros_integration::R
 
   // Setting the window icon
   auto icon_path = getSharePath("moveit_ros_visualization") / "icons/classes/MotionPlanning.png";
-  setWindowIcon(QIcon(icon_path.c_str()));
+  setWindowIcon(QIcon(icon_path.string().c_str()));
 
   // Basic widget container -----------------------------------------
   QHBoxLayout* layout = new QHBoxLayout();

moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp

@@ -80,7 +80,7 @@ class ConfigurationFiles : public SetupStep
 
   bool shouldGenerate(const GeneratedFilePtr& file) const
   {
-    std::string rel_path = file->getRelativePath();
+    std::string rel_path = file->getRelativePath().string();
     auto it = should_generate_.find(rel_path);
     if (it == should_generate_.end())
     {

moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp

@@ -294,7 +294,7 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item)
   }
 
   // Enable/disable file
-  setup_step_.setShouldGenerate(gen_file->getRelativePath(), generate);
+  setup_step_.setShouldGenerate(gen_file->getRelativePath().string(), generate);
 }
 
 // ******************************************************************************************
@@ -303,7 +303,7 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item)
 void ConfigurationFilesWidget::focusGiven()
 {
   // Pass the package path from start screen to configuration files screen
-  stack_path_->setPath(setup_step_.getPackagePath());
+  stack_path_->setPath(setup_step_.getPackagePath().string());
 
   setup_step_.loadFiles();
 
@@ -352,7 +352,7 @@ void ConfigurationFilesWidget::showGenFiles()
     auto gen_file = gen_files[i];
 
     // Create a formatted row
-    QListWidgetItem* item = new QListWidgetItem(QString(gen_file->getRelativePath().c_str()), action_list_, 0);
+    QListWidgetItem* item = new QListWidgetItem(QString(gen_file->getRelativePath().string().c_str()), action_list_, 0);
 
     // Checkbox
     item->setCheckState(setup_step_.shouldGenerate(gen_file) ? Qt::Checked : Qt::Unchecked);
@@ -480,7 +480,7 @@ bool ConfigurationFilesWidget::generatePackage()
       // Error occurred
       QMessageBox::critical(this, "Error Generating File",
                             QString("Failed to generate folder or file: '")
-                                .append(gen_file->getRelativePath().c_str())
+                                .append(gen_file->getRelativePath().string().c_str())
                                 .append("' at location:\n")
                                 .append(absolute_path.c_str()));
       return false;

moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp

@@ -70,7 +70,7 @@ std::filesystem::path StartScreen::getPackagePath()
 
 void StartScreen::loadExisting(const std::filesystem::path& package_path)
 {
-  package_settings_->loadExisting(package_path);
+  package_settings_->loadExisting(package_path.string());
 }
 
 bool StartScreen::isXacroFile()