Upgrade pybind11

core/python/test/rostest_trampoline.py

@@ -16,19 +16,6 @@ def setUpModule():
     roscpp_init("test_mtc")
 
 
-def pybind11_versions():
-    try:
-        keys = __builtins__.keys()  # for use with pytest
-    except AttributeError:
-        keys = __builtins__.__dict__.keys()  # use from cmdline
-    return [k for k in keys if k.startswith("__pybind11_internals_v")]
-
-
-incompatible_pybind11_msg = "MoveIt and MTC use incompatible pybind11 versions: " + "\n- ".join(
-    pybind11_versions()
-)
-
-
 class PyGenerator(core.Generator):
     """Implements a custom 'Generator' stage."""
 
@@ -109,18 +96,20 @@ def create(self, *stages):
         return task
 
     def plan(self, task, expected_solutions=None, wait=False):
-        task.plan()
+        try:
+            task.plan()
+        except TypeError as e:
+            self.fail(f"{e}\nDo MoveIt and MTC use ABI-compatible pybind11 versions?")
+
         if expected_solutions is not None:
             self.assertEqual(len(task.solutions), expected_solutions)
         if wait:
             input("Waiting for any key (allows inspection in rviz)")
 
-    @unittest.skipIf(len(pybind11_versions()) > 1, incompatible_pybind11_msg)
     def test_generator(self):
         task = self.create(PyGenerator())
         self.plan(task, expected_solutions=PyGenerator.max_calls)
 
-    @unittest.skipIf(len(pybind11_versions()) > 1, incompatible_pybind11_msg)
     def test_monitoring_generator(self):
         task = self.create(
             stages.CurrentState("current"),