Merge branch 'origin/master' into jacobian-derivative

.docker/ci-testing/Dockerfile

@@ -3,13 +3,15 @@
 
 ARG IMAGE=noetic
 FROM moveit/moveit:${IMAGE}-ci
-MAINTAINER Robert Haschke [email protected]
+LABEL org.opencontainers.image.authors="Robert Haschke <[email protected]>"
 
 # Switch to ros-testing
-RUN echo "deb http://packages.ros.org/ros-testing/ubuntu `lsb_release -cs` main" | tee /etc/apt/sources.list.d/ros1-latest.list
-
-# Upgrade packages to ros-testing and clean apt-cache within one RUN command
-RUN apt-get -qq update && \
+RUN apt-get update && \
+    apt-get install curl && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros-testing/ubuntu `lsb_release -cs` main" | tee /etc/apt/sources.list.d/ros1-latest.list && \
+    # Upgrade packages to ros-testing and clean apt-cache within one RUN command
+    apt-get update && \
     apt-get -qq -y dist-upgrade && \
     #
     # Clear apt-cache to reduce image size

.docker/ci/Dockerfile

@@ -3,9 +3,9 @@
 
 ARG ROS_DISTRO=noetic
 FROM ros:${ROS_DISTRO}-ros-base
-MAINTAINER Dave Coleman [email protected]
+LABEL org.opencontainers.image.authors="Robert Haschke <[email protected]>"
 
-ENV TERM xterm
+ENV TERM=xterm
 
 # Setup (temporary) ROS workspace
 WORKDIR /root/ws_moveit
@@ -26,15 +26,15 @@ RUN \
         wget git sudo \
         # Preferred build tools
         python$(test "${ROS_DISTRO}" = "noetic" && echo 3)-catkin-tools \
-        clang clang-format-10 clang-tidy clang-tools \
+        clang clang-format-12 clang-tidy clang-tools \
         ccache && \
     #
     # Download MoveIt sources, so that we can fetch all necessary dependencies
     wstool init --shallow src src/moveit/.github/workflows/upstream.rosinstall && \
-    git clone --depth 1 --branch master https://github.com/ros-planning/moveit_resources src/moveit_resources && \
+    git clone --depth 1 --branch master https://github.com/moveit/moveit_resources src/moveit_resources && \
     #
     # Download all dependencies of MoveIt
-    rosdep update && \
+    rosdep update $(test "${ROS_DISTRO}" = "melodic" && echo "--include-eol-distros") && \
     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
@@ -47,4 +47,4 @@ RUN \
     git config --global --add safe.directory "*"
 
 # Continous Integration Setting
-ENV IN_DOCKER 1
+ENV IN_DOCKER=1

.docker/experimental/Dockerfile

@@ -14,8 +14,8 @@ RUN git clone -b 26compat https://github.com/mongodb/mongo-cxx-driver.git && \
     rm -rf /var/lib/apt/lists/*
 
 # Download warehouse source
-RUN wstool set -yu warehouse_ros_mongo --git https://github.com/ros-planning/warehouse_ros_mongo.git -v jade-devel && \
-    wstool set -yu warehouse_ros --git https://github.com/ros-planning/warehouse_ros.git -v jade-devel
+RUN wstool set -yu warehouse_ros_mongo --git https://github.com/moveit/warehouse_ros_mongo.git -v jade-devel && \
+    wstool set -yu warehouse_ros --git https://github.com/moveit/warehouse_ros.git -v jade-devel
 
 # build the workspace
 RUN catkin build --limit-status-rate 0.001 --no-notify

.docker/release/Dockerfile

@@ -2,7 +2,7 @@
 
 ARG ROS_DISTRO=noetic
 FROM ros:${ROS_DISTRO}-ros-base
-MAINTAINER Dave Coleman [email protected]
+LABEL org.opencontainers.image.authors="Robert Haschke <[email protected]>"
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 RUN apt-get update -q && \

.docker/source/Dockerfile

@@ -5,14 +5,14 @@
 
 ARG IMAGE=noetic
 FROM moveit/moveit:${IMAGE}-ci-testing
-MAINTAINER Robert Haschke [email protected]
+LABEL org.opencontainers.image.authors="Robert Haschke <[email protected]>"
 
-ENV PYTHONIOENCODING UTF-8
+ENV PYTHONIOENCODING=UTF-8
 # Export ROS_UNDERLAY for downstream docker containers
-ENV ROS_UNDERLAY /root/ws_moveit/install
+ENV ROS_UNDERLAY=/root/ws_moveit/install
 # Environment variable used in instructions on moveit.ros.org website for running clang-tidy
-ENV CATKIN_WS $(realpath $ROS_UNDERLAY/..)
-WORKDIR $ROS_UNDERLAY/..
+ENV CATKIN_WS=$ROS_UNDERLAY/..
+WORKDIR $CATKIN_WS
 
 # Copy MoveIt sources from docker context
 COPY . src/moveit
@@ -24,7 +24,7 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     PATH=/usr/lib/ccache:$PATH && \
     # Fetch required upstream sources for building
     wstool init --shallow src src/moveit/.github/workflows/upstream.rosinstall && \
-    git clone --depth 1 --branch master https://github.com/ros-planning/moveit_resources src/moveit_resources && \
+    git clone --depth 1 --branch master https://github.com/moveit/moveit_resources src/moveit_resources && \
     #
     catkin config --extend /opt/ros/$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,

.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/ISSUE_TEMPLATE/first_timer_only.md

@@ -18,7 +18,7 @@ We're interested in helping you take the first step, and can answer questions an
 
 We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝
 
-If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/ros-planning/moveit/labels/bug) issues. Thanks!
+If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/moveit/moveit/labels/bug) issues. Thanks!
 
 ### 🤔 What you will need to know.
 
@@ -38,7 +38,7 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 $DIFF
 ```
 
-- [ ] 🤖 **Apply `clang-format-10`** auto formatting, [following these instructions](https://moveit.ros.org//documentation/contributing/code/?#clang-format-auto-code-formatting)
+- [ ] 🤖 **Apply `clang-format-12`** auto formatting, [following these instructions](https://moveit.ros.org//documentation/contributing/code/?#clang-format-auto-code-formatting)
 
 - [ ] 💾 **Commit and Push** your changes
 
@@ -62,7 +62,7 @@ Don’t hesitate to ask questions or to get help if you feel like you are gettin
 
 Furthermore, you find helpful resources here:
 * [MoveIt FAQ](https://moveit.ros.org/documentation/faqs/)
-* [MoveIt Tutorials](https://ros-planning.github.io/moveit_tutorials/)
+* [MoveIt Tutorials](https://moveit.github.io/moveit_tutorials/)
 * [MoveIt contribution guide](https://moveit.ros.org/documentation/contributing/)
 * [ROS Tutorials](https://wiki.ros.org/ROS/Tutorials)
 * [ROS Answers](https://answers.ros.org/questions/)

.github/PULL_REQUEST_TEMPLATE.md

@@ -5,9 +5,9 @@ Please explain the changes you made, including a reference to the related issue
 ### Checklist
 - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)
 - [ ] Extend the tutorials / documentation [reference](http://moveit.ros.org/documentation/contributing/)
-- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/ros-planning/moveit/blob/master/MIGRATION.md) notes
-- [ ] Create tests, which fail without this PR [reference](https://ros-planning.github.io/moveit_tutorials/doc/tests/tests_tutorial.html)
+- [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/moveit/moveit/blob/master/MIGRATION.md) notes
+- [ ] Create tests, which fail without this PR [reference](https://moveit.github.io/moveit_tutorials/doc/tests/tests_tutorial.html)
 - [ ] Include a screenshot if changing a GUI
-- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/ros-planning/moveit/pulls) to support the maintainers
+- [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/moveit/moveit/pulls) to support the maintainers
 
 [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!"

.github/workflows/ci.yaml

@@ -30,14 +30,18 @@ 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
+            NAME: " Qt6"
+            UPSTREAM_WORKSPACE: github:ros-visualization/rviz#noetic-devel
+            UPSTREAM_CMAKE_ARGS: -DRVIZ_QT_VERSIONS=6
     env:
       CXXFLAGS: -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
-      CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
+      CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
+
       DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
-      UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
-      TARGET_WORKSPACE: $TARGET_REPO_PATH github:ros-planning/moveit_resources#master
+      UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall ${{ matrix.env.UPSTREAM_WORKSPACE }}
+      TARGET_WORKSPACE: $TARGET_REPO_PATH github:moveit/moveit_resources#master
       DOWNSTREAM_WORKSPACE: .github/workflows/downstream.rosinstall
       # Pull any updates to the upstream workspace (after restoring it from cache)
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
@@ -49,8 +53,8 @@ jobs:
       # Compile CCOV with Debug. Enable -Werror.
       TARGET_CMAKE_ARGS: >
         -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
+        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS ${{ matrix.env.TARGET_CXXFLAGS }} ${{ matrix.env.CCOV && '--coverage -O2 -fno-omit-frame-pointer'}}"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS='' ${{ matrix.env.UPSTREAM_CMAKE_ARGS }}"
       DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
@@ -63,8 +67,12 @@ jobs:
       BUILDER: ${{ matrix.env.BUILDER || 'catkin_tools' }}
       CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
       CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
+      # forward matrix.env
+      CATKIN_LINT: ${{ matrix.env.CATKIN_LINT }}
+      CLANG_TIDY: ${{ matrix.env.CLANG_TIDY }}
+
 
-    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}"
+    name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}"
     runs-on: ubuntu-20.04
     steps:
       - name: "Free up disk space"
@@ -81,7 +89,7 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Cache upstream workspace
         uses: rhaschke/cache@main
         with:
@@ -127,13 +135,14 @@ jobs:
       - name: Generate ikfast packages
         if: matrix.env.IKFAST_TEST
         run: moveit_kinematics/test/test_ikfast_plugins.sh
+        env:
+          ROS_DISTRO: noetic
       - id: ici
         name: Run industrial_ci
-        uses: ros-industrial/industrial_ci@master
-        env: ${{ matrix.env }}
+        uses: rhaschke/industrial_ci@master
 
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.env.IMAGE }}
@@ -146,16 +155,18 @@ jobs:
           workdir: ${{ env.BASEDIR }}/target_ws
           ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v5
         if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info
-      - name: Upload clang-tidy changes
-        uses: rhaschke/upload-git-patch-action@main
-        if: always() && matrix.env.CLANG_TIDY
+
+      - name: Upload clang-tidy fixes (on failure)
+        uses: actions/upload-artifact@v4
+        if: failure() && steps.ici.outputs.clang_tidy_checks
         with:
-          name: clang-tidy
-          path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd))
+          name: clang-tidy-fixes.yaml
+          path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml
+
       - name: Prepare target_ws for cache
         if: always() && !matrix.env.CCOV
         run: |
@@ -168,11 +179,11 @@ jobs:
   sync-noetic-devel:
     runs-on: ubuntu-latest
     needs: default # only trigger on success of default build job
-    if: github.event_name == 'push' && github.repository_owner == 'ros-planning' && github.ref == 'refs/heads/master'
+    if: github.event_name == 'push' && github.repository_owner == 'moveit' && github.ref == 'refs/heads/master'
     permissions:
       contents: write # allow pushing
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Fast-forward noetic-devel to sync with master
         run: |
           # Configure push user+url