Drop Melodic support (moveit#3677)

.github/ISSUE_TEMPLATE/bug_report.md

@@ -12,8 +12,8 @@ assignees: ''
 Overview of your issue here.
 
 ### Your environment
-* ROS Distro: [Kinetic|Melodic|Noetic]
-* OS Version: e.g. Ubuntu 18.04
+* ROS Distro: [Noetic|One]
+* OS Version: e.g. Ubuntu 20.04
 * Source or Binary build?
 * If binary, which release version?
 * If source, which branch?

.github/workflows/ci.yaml

@@ -30,8 +30,6 @@ jobs:
             IKFAST_TEST: true
             CATKIN_LINT: true
             CLANG_TIDY: pedantic
-          - IMAGE: master-ci # ROS Melodic with all dependencies required for master
-            CATKIN_LINT: true
           - IMAGE: jammy-ci
           - IMAGE: noble-ci
     env:

.github/workflows/docker.yaml

@@ -61,14 +61,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        IMAGE: [noetic, master]
+        IMAGE: [noetic]
     runs-on: ubuntu-latest
     permissions:
       packages: write
       contents: read
     env:
       IMAGE: moveit/moveit:${{ matrix.IMAGE }}-${{ github.job }}
-      ROS_DISTRO: ${{ matrix.IMAGE == 'master' && 'melodic' || 'noetic' }}
+      ROS_DISTRO: ${{ matrix.IMAGE }}
 
     steps:
       - uses: rhaschke/docker-run-action@v5
@@ -101,7 +101,6 @@ jobs:
           cache-to: type=inline
           tags: |
             ${{ env.IMAGE }}
-            ${{ matrix.IMAGE == 'master' && 'moveit/moveit:master-ci-testing' || '' }}
 
   ci-testing:
     needs: ci
@@ -154,7 +153,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        IMAGE: [noetic, master]
+        IMAGE: [noetic]
     runs-on: ubuntu-latest
     permissions:
       packages: write

moveit_core/package.xml

@@ -62,8 +62,7 @@
   <test_depend>moveit_resources_panda_moveit_config</test_depend>
   <test_depend>moveit_resources_pr2_description</test_depend>
   <test_depend>tf2_kdl</test_depend>
-  <test_depend condition="$ROS_DISTRO == melodic">orocos_kdl</test_depend>
-  <test_depend condition="$ROS_DISTRO != melodic">liborocos-kdl-dev</test_depend>
+  <test_depend>liborocos-kdl-dev</test_depend>
   <test_depend>rosunit</test_depend>
   <test_depend>rostest</test_depend>
   <test_depend>benchmark</test_depend>

moveit_core/robot_state/test/test_cartesian_interpolator.cpp

@@ -200,18 +200,10 @@ TEST_F(SimpleRobot, checkRelativeJointSpaceJump)
   EXPECT_NEAR(1.0, fraction, 0.01);
 }
 
-// Gracefully handle gtest 1.8 (Melodic)
-#ifndef INSTANTIATE_TEST_SUITE_P
-#define _STATIC
-#define _OLD_GTEST
-#else
-#define _STATIC static
-#endif
-
 class PandaRobot : public testing::Test
 {
 protected:
-  _STATIC void SetUpTestSuite()  // setup resources shared between tests
+  static void SetUpTestSuite()  // setup resources shared between tests
   {
     robot_model_ = loadTestingRobotModel("panda");
     jmg_ = robot_model_->getJointModelGroup("panda_arm");
@@ -220,28 +212,18 @@ class PandaRobot : public testing::Test
     loadIKPluginForGroup(jmg_, "panda_link0", link_->getName());
   }
 
-  _STATIC void TearDownTestSuite()
+  static void TearDownTestSuite()
   {
     robot_model_.reset();
   }
 
   void SetUp() override
   {
-#ifdef _OLD_GTEST
-    SetUpTestSuite();
-#endif
     start_state_ = std::make_shared<RobotState>(robot_model_);
     ASSERT_TRUE(start_state_->setToDefaultValues(jmg_, "ready"));
     start_pose_ = start_state_->getGlobalLinkTransform(link_);
   }
 
-#ifdef _OLD_GTEST
-  void TearDown() override
-  {
-    TearDownTestSuite();
-  }
-#endif
-
   double computeCartesianPath(std::vector<std::shared_ptr<RobotState>>& result, const Eigen::Vector3d& translation,
                               bool global)
   {
@@ -260,20 +242,18 @@ class PandaRobot : public testing::Test
   }
 
 protected:
-  _STATIC RobotModelPtr robot_model_;
-  _STATIC JointModelGroup* jmg_;
-  _STATIC const LinkModel* link_;
+  static RobotModelPtr robot_model_;
+  static JointModelGroup* jmg_;
+  static const LinkModel* link_;
 
   double prec_ = 1e-8;
   RobotStatePtr start_state_;
   Eigen::Isometry3d start_pose_;
   std::vector<std::shared_ptr<RobotState>> result_;
 };
-#ifndef _OLD_GTEST
 RobotModelPtr PandaRobot::robot_model_;
 JointModelGroup* PandaRobot::jmg_ = nullptr;
 const LinkModel* PandaRobot::link_ = nullptr;
-#endif
 
 TEST_F(PandaRobot, testVectorGlobal)
 {

moveit_kinematics/package.xml

@@ -27,8 +27,7 @@
   <depend>eigen</depend>
   <depend>tf2</depend>
   <depend>tf2_kdl</depend>
-  <depend condition="$ROS_DISTRO == melodic">orocos_kdl</depend>
-  <depend condition="$ROS_DISTRO != melodic">liborocos-kdl-dev</depend>
+  <depend>liborocos-kdl-dev</depend>
 
   <!-- some requirements of ikfast scripts -->
   <exec_depend>liburdfdom-tools</exec_depend> <!-- provides check_urdf -->

moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp

@@ -55,15 +55,8 @@
 #include <ompl/tools/config/SelfConfig.h>
 #include <ompl/base/spaces/SE3StateSpace.h>
 #include <ompl/datastructures/PDF.h>
-// TODO: remove when ROS Melodic and older are no longer supported
-#if OMPL_VERSION_VALUE < 1005000
-#include <ompl/base/PlannerTerminationCondition.h>
-#else
-// IterationTerminationCondition was moved to a separate file and
-// CostConvergenceTerminationCondition was added in OMPL 1.5.0.
 #include <ompl/base/terminationconditions/IterationTerminationCondition.h>
 #include <ompl/base/terminationconditions/CostConvergenceTerminationCondition.h>
-#endif
 
 #include "ompl/base/objectives/PathLengthOptimizationObjective.h"
 #include "ompl/base/objectives/MechanicalWorkOptimizationObjective.h"
@@ -516,8 +509,6 @@ ompl_interface::ModelBasedPlanningContext::constructPlannerTerminationCondition(
     else
       ROS_ERROR_NAMED(LOGNAME, "Missing argument to Iteration termination condition");
   }
-// TODO: remove when ROS Melodic and older are no longer supported
-#if OMPL_VERSION_VALUE >= 1005000
   // Terminate if the cost has converged or a timeout occurs.
   // Only useful for anytime/optimizing planners.
   else if (termination_and_params[0] == "CostConvergence")
@@ -534,7 +525,6 @@ ompl_interface::ModelBasedPlanningContext::constructPlannerTerminationCondition(
         ob::timedPlannerTerminationCondition(timeout - ompl::time::seconds(ompl::time::now() - start)),
         ob::CostConvergenceTerminationCondition(ompl_simple_setup_->getProblemDefinition(), solutions_window, epsilon));
   }
-#endif
   // Terminate as soon as an exact solution is found or a timeout occurs.
   // This modifies the behavior of anytime/optimizing planners to terminate upon discovering
   // the first feasible solution.
@@ -562,8 +552,6 @@ void ompl_interface::ModelBasedPlanningContext::clear()
 {
   if (!multi_query_planning_enabled_)
     ompl_simple_setup_->clear();
-// TODO: remove when ROS Melodic and older are no longer supported
-#if OMPL_VERSION_VALUE >= 1005000
   else
   {
     // For LazyPRM and LazyPRMstar we assume that the environment *could* have changed
@@ -574,7 +562,6 @@ void ompl_interface::ModelBasedPlanningContext::clear()
     if (planner != nullptr)
       planner->clearValidity();
   }
-#endif
   ompl_simple_setup_->clearStartStates();
   ompl_simple_setup_->setGoal(ob::GoalPtr());
   ompl_simple_setup_->setStateValidityChecker(ob::StateValidityCheckerPtr());

moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp

@@ -69,12 +69,9 @@
 #include <ompl/geometric/planners/prm/LazyPRMstar.h>
 #include <ompl/geometric/planners/prm/SPARS.h>
 #include <ompl/geometric/planners/prm/SPARStwo.h>
-// TODO: remove when ROS Melodic and older are no longer supported
-#if OMPL_VERSION_VALUE >= 1005000
 #include <ompl/geometric/planners/informedtrees/AITstar.h>
 #include <ompl/geometric/planners/informedtrees/ABITstar.h>
 #include <ompl/geometric/planners/informedtrees/BITstar.h>
-#endif
 
 #include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h>
 #include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h>
@@ -200,9 +197,7 @@ ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner(const ob::
 {
   return nullptr;
 };
-// TODO: remove when ROS Melodic and older are no longer supported
 // namespace is scoped instead of global because of GCC bug 56480
-#if OMPL_VERSION_VALUE >= 1005000
 namespace ompl_interface
 {
 template <>
@@ -230,7 +225,6 @@ MultiQueryPlannerAllocator::allocatePersistentPlanner<ompl::geometric::LazyPRMst
   return new og::LazyPRMstar(data);
 };
 }  // namespace ompl_interface
-#endif
 
 ompl_interface::PlanningContextManager::PlanningContextManager(moveit::core::RobotModelConstPtr robot_model,
                                                                constraint_samplers::ConstraintSamplerManagerPtr csm)
@@ -299,12 +293,9 @@ void ompl_interface::PlanningContextManager::registerDefaultPlanners()
   registerPlannerAllocatorHelper<og::SPARStwo>("geometric::SPARStwo");
   registerPlannerAllocatorHelper<og::STRIDE>("geometric::STRIDE");
   registerPlannerAllocatorHelper<og::TRRT>("geometric::TRRT");
-// TODO: remove when ROS Melodic and older are no longer supported
-#if OMPL_VERSION_VALUE >= 1005000
   registerPlannerAllocatorHelper<og::AITstar>("geometric::AITstar");
   registerPlannerAllocatorHelper<og::ABITstar>("geometric::ABITstar");
   registerPlannerAllocatorHelper<og::BITstar>("geometric::BITstar");
-#endif
 }
 
 void ompl_interface::PlanningContextManager::registerDefaultStateSpaces()

moveit_planners/pilz_industrial_motion_planner/package.xml

@@ -24,8 +24,7 @@
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend> <!-- RobotModelLoader -->
   <depend>moveit_ros_move_group</depend> <!-- move_group capability -->
-  <depend condition="$ROS_DISTRO == melodic">orocos_kdl</depend>
-  <depend condition="$ROS_DISTRO != melodic">liborocos-kdl-dev</depend>
+  <depend>liborocos-kdl-dev</depend>
   <depend>pluginlib</depend>
   <depend>roscpp</depend>
   <depend>tf2</depend>

moveit_setup_assistant/src/tools/moveit_config_data.cpp

@@ -661,14 +661,10 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners() const
   aps.addParameter("hybridize", "true", "Compute hybrid solution trajectories");
   aps.addParameter("max_hybrid_paths", "24", "Number of hybrid paths generated per iteration");
   aps.addParameter("num_planners", "4", "The number of default planners to use for planning");
-// TODO: remove when ROS Melodic and older are no longer supported
-#if OMPL_VERSION_VALUE >= 1005000
-  // This parameter was added in OMPL 1.5.0
-  aps.addParameter("planners", "",
+  aps.addParameter("planners", "",  // added in OMPL 1.5.0
                    "A comma-separated list of planner types (e.g., \"PRM,EST,RRTConnect\""
                    "Optionally, planner parameters can be passed to change the default:"
                    "\"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]\"");
-#endif
   planner_des.push_back(aps);
 
   OMPLPlannerDescription sbl("SBL", "geometric");
@@ -876,8 +872,6 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners() const
   spar_stwo.addParameter("max_failures", "5000", "maximum consecutive failure limit. default: 5000");
   planner_des.push_back(spar_stwo);
 
-// TODO: remove when ROS Melodic and older are no longer supported
-#if OMPL_VERSION_VALUE >= 1005000
   OMPLPlannerDescription aitstar("AITstar", "geometric");
   aitstar.addParameter("use_k_nearest", "1",
                        "whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1");
@@ -947,7 +941,6 @@ std::vector<OMPLPlannerDescription> MoveItConfigData::getOMPLPlanners() const
                        "sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0");
   bitstar.addParameter("find_approximate_solutions", "0", "track approximate solutions (1) or not (0). Default: 0");
   planner_des.push_back(bitstar);
-#endif
 
   return planner_des;
 }