ommmid · ommmid · Jul 2, 2020 · Jul 2, 2020 · Jun 28, 2020 · Jul 3, 2020
diff --git a/.clang-format b/.clang-format
@@ -1,66 +1,75 @@
 ---
 BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
+
 AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
+
 BinPackParameters: true
-ColumnLimit:    120
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
 PenaltyBreakString: 100
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 70
+PenaltyReturnTypeOnItsOwnLine: 50
+
 SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
 SpacesInAngles:  false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
 
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
 ...
diff --git a/.docker/README.md b/.docker/README.md
@@ -1,3 +1,4 @@
-# MoveIt! Docker Containers
+# MoveIt Docker Containers
 
-For more information see [Continuous Integration and Docker](http://moveit.ros.org/documentation/contributing/continuous_integration.html) documentation.
+
+For more information see the pages [Continuous Integration and Docker](http://moveit.ros.org/documentation/contributing/continuous_integration.html) and [Using Docker Containers with MoveIt](https://moveit.ros.org/install/docker/).
diff --git a/.docker/ci-shadow-fixed/Dockerfile b/.docker/ci-shadow-fixed/Dockerfile
@@ -1,7 +1,7 @@
-# moveit/moveit:master-ci-shadow-fixed
+# moveit/moveit:noetic-ci-shadow-fixed
 # Sets up a base image to use for running Continuous Integration on Travis
 
-FROM moveit/moveit:master-ci
+FROM moveit/moveit:noetic-ci
 MAINTAINER Dave Coleman dave@picknik.ai
 
 # Switch to ros-shadow-fixed

diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
@@ -1,7 +1,7 @@
-# moveit/moveit:master-ci
+# moveit/moveit:noetic-ci
 # Sets up a base image to use for running Continuous Integration on Travis
 
-FROM ros:melodic-ros-base
+FROM ros:noetic-ros-base
 MAINTAINER Dave Coleman dave@picknik.ai
 
 ENV TERM xterm
@@ -12,35 +12,28 @@ WORKDIR /root/ws_moveit
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
-    mkdir src && \
-    cd src && \
-    #
-    # Download moveit source, so that we can get necessary dependencies
-    wstool init --shallow . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && \
-    #
     # Update apt package list as previous containers clear the cache
     apt-get -qq update && \
     apt-get -qq dist-upgrade && \
     #
     # Install some base dependencies
-    apt-get -qq install -y \
-        # Some source builds require a package.xml be downloaded via wget from an external location
-        wget \
-        # Required for rosdep command
-        sudo \
+    apt-get -qq install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo \
         # Preferred build tools
-        python-catkin-tools \
-        clang clang-format-3.9 clang-tidy clang-tools \
+        python3-catkin-tools python3-osrf-pycommon \
+        clang clang-format-10 clang-tidy clang-tools \
         ccache && \
     #
-    # Download all dependencies of MoveIt!
-    rosdep update && \
-    rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+    # Download MoveIt source, so that we can fetch all necessary dependencies
+    wstool init --shallow src https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
     #
+    # Download all dependencies of MoveIt
+    rosdep update && \
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
     # Remove the source code from this container
-    # TODO: in the future we may want to keep this here for further optimization of later containers
-    cd .. && \
-    rm -rf src/ && \
+    rm -rf src && \
     #
     # Clear apt-cache to reduce image size
     rm -rf /var/lib/apt/lists/*

diff --git a/.docker/gui-docker b/.docker/gui-docker
@@ -1,11 +1,16 @@
 #!/bin/bash -u
 
 # This script is used to run a docker container with graphics support.
-# http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration
+# All arguments to this script except "-c <container_name>" will be appended to a docker run command.
+# If a container name is specified, and this container already exists, the container is re-entered,
+# which easily allows entering the same persistent container from multiple terminals.
+# See documentation for detailed examples: https://moveit.ros.org/install/docker/
 
-# All arguments to this script will be appended to a docker run command.
-# Example command line:
-# ./gui-docker -it --rm moveit/moveit:master-source /bin/bash
+# Example commands:
+# ./gui-docker --rm -it moveit/moveit:master-source /bin/bash     # Run a (randomly named) container that is removed on exit
+# ./gui-docker -v ~/ros_ws:/root/ros_ws --rm -it moveit/moveit:master-source /bin/bash   # Same, but also link host volume ~/ros_ws to /root/ros_ws in the container
+# ./gui-docker -c container_name                                  # Start (or continue) an interactive bash in a moveit/moveit:master-source container
+# ./gui-docker                                                    # Same, but use the default container name "default_moveit_container"
 
 function check_nvidia2() {
     # If we don't have an NVIDIA graphics card, bail out
@@ -78,8 +83,8 @@ function count_positional_args() {
 }
 
 if [ $# -eq 0 ] ; then
-   # If not options are specified at all, just run the default_container
-   CONTAINER_NAME=default_container
+   # If no options are specified at all, use the name "default_moveit_container"
+   CONTAINER_NAME=default_moveit_container
 else
   # Check for option -c or --container in first position
   case "$1" in
@@ -91,7 +96,7 @@ else
          shift
       fi
       # Set default container name if still undefined
-      CONTAINER_NAME="${CONTAINER_NAME:-default_container}"
+      CONTAINER_NAME="${CONTAINER_NAME:-default_moveit_container}"
       ;;
   esac
 fi

diff --git a/.docker/release/Dockerfile b/.docker/release/Dockerfile
@@ -1,7 +1,7 @@
 # moveit/moveit:melodic-release
-# Full debian-based install of MoveIt! using apt-get
+# Full debian-based install of MoveIt using apt-get
 
-FROM ros:melodic-ros-base
+FROM ros:noetic-ros-base
 MAINTAINER Dave Coleman dave@picknik.ai
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size

diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile
@@ -1,7 +1,7 @@
-# moveit/moveit:master-source
+# moveit/moveit:noetic-source
 # Downloads the moveit source code and install remaining debian dependencies
 
-FROM moveit/moveit:master-ci-shadow-fixed
+FROM moveit/moveit:noetic-ci-shadow-fixed
 MAINTAINER Dave Coleman dave@picknik.ai
 
 ENV ROS_UNDERLAY /root/ws_moveit/install
@@ -11,7 +11,7 @@ WORKDIR $ROS_UNDERLAY/../src
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
     # Download moveit source so that we can get necessary dependencies
-    wstool init . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && \
+    wstool init . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
     #
     # Update apt package list as cache is cleared in previous container
     # Usually upgrading involves a few packages only (if container builds became out-of-sync)
@@ -24,7 +24,11 @@ RUN \
 
 ENV PYTHONIOENCODING UTF-8
 RUN cd .. && \
-    catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON && \
     # Status rate is limited so that just enough info is shown to keep Docker from timing out,
     # but not too much such that the Docker log gets too long (another form of timeout)
     catkin build --limit-status-rate 0.001 --no-notify
+
+# Environment variable used in instructions on moveit.ros.org website for running clang-tidy
+ENV CATKIN_WS /root/ws_moveit
+
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -1,4 +1,4 @@
-# MoveIt! is a large project with pull requests being created often. In order
+# MoveIt is a large project with pull requests being created often. In order
 # to ensure quick review turn around time from our maintainer team, we're
 # leveraging an automated "triage" approach to auto-assign reviews to new pull
 # requests. If you already know who should review your PR, then you can assign
@@ -32,31 +32,31 @@
 
 # FOLDER-SPECIFIC REVIEWERS:
 
-/moveit_plugins/moveit_ros_control_interface/	            @ipa-mdl @bmagyar
-/moveit_plugins/moveit_fake_controller_manager/	            @v4hn @rhaschke
-/moveit_plugins/moveit_simple_controller_manager/	    @mikeferguson @v4hn
-/moveit_plugins/moveit_controller_manager_example/	    @v4hn
+/moveit_plugins/moveit_ros_control_interface/               @ipa-mdl @bmagyar
+/moveit_plugins/moveit_fake_controller_manager/             @v4hn @rhaschke
+/moveit_plugins/moveit_simple_controller_manager/           @mikeferguson @v4hn
+/moveit_plugins/moveit_controller_manager_example/          @v4hn
 
-/moveit_core/background_processing/                         @mlautman
-/moveit_core/backtrace/                                     @mlautman
-/moveit_core/collision_detection/                           @BryceStevenWilley
-/moveit_core/collision_detection_fcl/                       @rhaschke
-/moveit_core/collision_distance_field/                      @rhaschke
+/moveit_core/background_processing/                         @tylerjw
+/moveit_core/backtrace/                                     @tylerjw
+/moveit_core/collision_detection/                           @j-petit
+/moveit_core/collision_detection_fcl/                       @j-petit
+/moveit_core/collision_distance_field/                      @j-petit
 /moveit_core/constraint_samplers/                           @v4hn
 /moveit_core/controller_manager/                            @v4hn
 /moveit_core/distance_field/                                @v4hn
-/moveit_core/dynamics_solver/                               @mlautman
-/moveit_core/exceptions/                                    @mlautman
+/moveit_core/dynamics_solver/                               @tylerjw
+/moveit_core/exceptions/                                    @tylerjw
 /moveit_core/kinematic_constraints/                         @rhaschke
 /moveit_core/kinematics_base/                               @rhaschke @mlautman
 /moveit_core/kinematics_metrics/                            @gavanderhoorn
-/moveit_core/macros/                                        @mlautman
-/moveit_core/planning_interface/                            @rhaschke
+/moveit_core/macros/                                        @tylerjw
+/moveit_core/planning_interface/                            @rhaschke @felixvd
 /moveit_core/planning_request_adapter/                      @rhaschke
-/moveit_core/planning_scene/                                @rhaschke
-/moveit_core/profiler/                                      @mlautman
-/moveit_core/robot_model/                                   @jonbinney
-/moveit_core/robot_state/                                   @rhaschke @mlautman
+/moveit_core/planning_scene/                                @rhaschke @felixvd
+/moveit_core/profiler/                                      @tylerjw
+/moveit_core/robot_model/                                   @tylerjw
+/moveit_core/robot_state/                                   @rhaschke @mlautman @felixvd
 /moveit_core/robot_trajectory/                              @mlautman
 /moveit_core/sensor_manager/                                @mlautman
 /moveit_core/trajectory_processing/                         @mlautman
@@ -66,36 +66,39 @@
 
 /moveit_commander/                                          @rhaschke @willcbaker
 
-/moveit/	                                            @130s
+/moveit/                                                    @130s
 
-/moveit_kinematics/	                                    @rhaschke @gavanderhoorn @jrgnicho
+/moveit_kinematics/                                         @rhaschke @gavanderhoorn @jrgnicho
 
-/moveit_experimental/	                                    @AndyZe
+/moveit_experimental/                                       @AndyZe
 
-/moveit_ros/perception/	                                    @mikeferguson @jonbinney
-/moveit_ros/manipulation/	                            @v4hn @felixvd
-/moveit_ros/benchmarks/	                                    @henningkayser @MohmadAyman
-/moveit_ros/planning_interface/	                            @mintar @rhaschke
-/moveit_ros/robot_interaction/	                            @mikeferguson @rhaschke
-/moveit_ros/warehouse/	                                    @mikeferguson @dg-shadow
-/moveit_ros/move_group/	                                    @rhaschke @IanTheEngineer
-/moveit_ros/visualization/	                            @rhaschke @jonbinney @christian-rauch
+/moveit_ros/perception/                                     @jliukkonen @RoboticsYY
+/moveit_ros/manipulation/                                   @v4hn @felixvd
+/moveit_ros/benchmarks/                                     @henningkayser @MohmadAyman
+/moveit_ros/planning_interface/                             @mintar @rhaschke @felixvd
+/moveit_ros/robot_interaction/                              @mikeferguson @rhaschke
+/moveit_ros/warehouse/                                      @mikeferguson @dg-shadow
+/moveit_ros/move_group/                                     @rhaschke @IanTheEngineer
+/moveit_ros/visualization/                                  @rhaschke @tylerjw @RoboticsYY @felixvd
 
-/moveit_ros/planning/collision_plugin_loader/               @rhaschke
-/moveit_ros/planning/constraint_sampler_manager_loader/     @henningkayser
+/moveit_ros/planning/collision_plugin_loader/               @j-petit
+/moveit_ros/planning/constraint_sampler_manager_loader/     @nbbrooks
 /moveit_ros/planning/kinematics_plugin_loader/              @gavanderhoorn
 /moveit_ros/planning/plan_execution/                        @v4hn
 /moveit_ros/planning/planning_components_tools/             @henningkayser
 /moveit_ros/planning/planning_pipeline/                     @v4hn
 /moveit_ros/planning/planning_request_adapter_plugins/      @v4hn
 /moveit_ros/planning/planning_scene_monitor/                @rhaschke
-/moveit_ros/planning/rdf_loader/                            @henningkayser
-/moveit_ros/planning/robot_model_loader/                    @henningkayser
+/moveit_ros/planning/rdf_loader/                            @nbbrooks
+/moveit_ros/planning/robot_model_loader/                    @nbbrooks
 /moveit_ros/planning/trajectory_execution_manager/          @rhaschke
 
-/moveit_setup_assistant/	                            @davetcoleman @rhaschke @MohmadAyman
+/moveit_setup_assistant/                                    @RoboticsYY @rhaschke @MohmadAyman
 
-/moveit_planners/ompl/	                                    @BryceStevenWilley @zkingston
+/moveit_planners/ompl/                                      @BryceStevenWilley @mamoll
 /moveit_planners/chomp/chomp_interface/                     @raghavendersahdev @knorth55 @bmagyar
-/moveit_planners/chomp/chomp_optimizer_adapter/	            @raghavendersahdev @knorth55 @bmagyar
-/moveit_planners/chomp/chomp_motion_planner/	            @raghavendersahdev @knorth55 @bmagyar
+/moveit_planners/chomp/chomp_optimizer_adapter/             @raghavendersahdev @knorth55 @bmagyar
+/moveit_planners/chomp/chomp_motion_planner/                @raghavendersahdev @knorth55 @bmagyar
+/moveit_planners/trajopt                                    @ommmid @mamoll
+/moveit_planners/pilz_industrial_motion_planner             @jschleicher @ct2034
+/moveit_planners/pilz_industrial_motion_planner_testutils/  @jschleicher @ct2034