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Add pilz-industrial-motion-planner on Windows #241

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Merged
Tobias-Fischer merged 2 commits into from
Jan 9, 2025
Merged

Add pilz-industrial-motion-planner on Windows #241

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90d0dff
Add pilz-industrial-motion-planner on Windows
traversaro Jan 9, 2025
348a134
Backport pilz-industrial-motion-planner Windows fixes
traversaro Jan 9, 2025
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36 changes: 36 additions & 0 deletions patch/ros-humble-pilz-industrial-motion-planner.win.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,36 @@
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
index c1fccdf3bd..01a7f11b59 100644
--- a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
@@ -117,7 +117,7 @@ bool pilz_industrial_motion_planner::computePoseIK(const planning_scene::Plannin
const double timeout)
{
Eigen::Isometry3d pose_eigen;
- tf2::convert<geometry_msgs::msg::Pose, Eigen::Isometry3d>(pose, pose_eigen);
+ tf2::fromMsg(pose, pose_eigen);
return computePoseIK(scene, group_name, link_name, pose_eigen, frame_id, seed, solution, check_self_collision,
timeout);
}
@@ -591,7 +591,7 @@ bool pilz_industrial_motion_planner::isStateColliding(const planning_scene::Plan
void normalizeQuaternion(geometry_msgs::msg::Quaternion& quat)
{
tf2::Quaternion q;
- tf2::convert<geometry_msgs::msg::Quaternion, tf2::Quaternion>(quat, q);
+ tf2::fromMsg(quat, q);
quat = tf2::toMsg(q.normalized());
}

diff --git a/moveit_planners/pilz_industrial_motion_planner/include/joint_limits_copy/joint_limits_rosparam.hpp b/moveit_planners/pilz_industrial_motion_planner/include/joint_limits_copy/joint_limits_rosparam.hpp
index 89bd99f1da..b135d1c3d3 100644
--- a/moveit_planners/pilz_industrial_motion_planner/include/joint_limits_copy/joint_limits_rosparam.hpp
+++ b/moveit_planners/pilz_industrial_motion_planner/include/joint_limits_copy/joint_limits_rosparam.hpp
@@ -32,7 +32,7 @@ namespace
template <typename T>
void declareParameterTemplate(const rclcpp::Node::SharedPtr& node, const std::string& name, T default_value)
{
- if (not node->has_parameter(name))
+ if (!node->has_parameter(name))
{
node->declare_parameter<T>(name, default_value);
}

3 changes: 2 additions & 1 deletion vinca_win.yaml
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Expand Up @@ -27,7 +27,6 @@ packages_remove_from_deps:
- tlsf_cpp
- pendulum_control
- warehouse_ros_mongo
- pilz-industrial-motion-planner
# removed in jazzy, never supported windows, no packages depend on it
- apex_containers
# never worked in Windows, probably trivial to support if someone needs it
Expand Down Expand Up @@ -139,6 +138,8 @@ packages_select_by_deps:
- moveit2_tutorials
- moveit-planners-chomp
- rqt-moveit
# Requested in https://github.com/RoboStack/ros-humble/issues/211
- pilz-industrial-motion-planner
# - moveit2_tutorials # this does not exist anymore

- topic_tools
Expand Down