chore(deps): bump PickNikRobotics/moveit_pro_lint from 0.0.1 to 0.0.2#59
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chore(deps): bump PickNikRobotics/moveit_pro_lint from 0.0.1 to 0.0.2#59dependabot[bot] wants to merge 1650 commits into
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PublishStaticFrame is now a deprecated alias in MoveIt Pro (PR PickNikRobotics/moveit_pro#19087). All example objectives that used it were actually relying on its dynamic /tf broadcast lifecycle, so switch them to PublishTF — the correctly-named Behavior with identical runtime behavior. No semantic change. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
When fuse is enabled it must be the sole publisher of odom -> ridgeback_base_link. MuJoCo's hardware plugin was also publishing that edge unconditionally, causing jittery interleaved TF updates. - Make publish_odom a xacro arg (default true) in the MuJoCo hardware xacro and forward it through ur5e_ridgeback.xacro - Expose publish_odom in config.yaml urdf_params so users can set it to false when enabling fuse - Add a launch-time guard (OpaqueFunction) that shuts down with a clear error if use_fuse:=true but publish_odom is still true in config.yaml Fixes #18174 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…om-tf-conflict Fix: Prevent dual odom TF publication when use_fuse is true
Merge v9.3 into main
…-to-ci chore: finish migration of find_release_branch to moveit_pro_ci
ci: Update Test Action to Include Jazzy
- ml_find_objects_on_table.xml: Add SwitchUIPrimaryView at the end of the tree so a view pane auto-switches to /masks_visualization once masks are published. Matches the behavior of the other ML Objectives in lab_sim (ml_segment_image, ml_find_bottles_on_table_from_image_exemplar) and restores the auto-show readers expect from Tutorial 1. - pick_all_bottles_with_apriltags.xml: Flatten the "Release and Retract" subtree, which had three nested single-child Sequence wrappers around the actual actions. The wrappers were structurally inert but very confusing when a tutorial reader opens the tree. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Merge Upstream to Main
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…icframe-to-publishtf Migrate PublishStaticFrame usages to PublishTF
…ning Add overlap-warning workflow for files shared with moveit_pro_empty_ws
…force-command Update PublishVelocityForceCommand to use unstamped twist/wrench
… lab_sim The previous description referred to an "invisible object," which dated from when the scene had no physical pickable. The lab_sim scene now contains medicine bottles and a sorting tray, and this Objective picks a bottle from the table, drops it in the tray, then picks it back out and returns it — looping until cancelled. The mock_sim variant is intentionally left unchanged since it still operates on an invisible object. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…e-description Fix: Description for "3 Waypoints Pick and Place" in lab_sim
Drop the warm-up preamble (2x SwitchController + zero_fts) at the top of the Pick All Bottles with AprilTags tree. The cold-start cost it was guarding against is essentially zero in the current build, and the block adds ~3-4s of unnecessary controller-swap latency at the top of every run. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The previous joint values left the gripper slightly tilted off-vertical at the place pose, so the bottle tipped over when Open Gripper fired at the end of the tutorial 3 pick-and-place flow. Re-recorded with the gripper truly perpendicular to the tray surface. Above Tray Place Simple is unchanged — the visible tilt during the descent comes from this lower waypoint, not the hover above. Fixes PickNikRobotics/moveit_pro#19225.
Fix Move Forward 2m Objective by moving to a good initial pose
Merge v9.3 into main
…tor From Masks
The reset action was clearing {pose_stamped_vector} but the vector being
built is {point_cloud_vector}, so detected point clouds accumulated across
cycles. In Sort Blocks, Find with prompt then read GetElementOfVector
index=0 — always the stalest detection — even after that block was
removed.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…int-cloud-vector Fix: Sort Blocks targets stale block locations
…c-legacy-ports remove unused controller_names and trajectory_monitoring ports
The MoveIt controller-manager plugin layer is removed in moveit_pro (#15791); hangar_sim's mecanum ControllerHandleAllocator plugin and its dependency on moveit_studio_plugins::dummy_controller_handle_plugin are now dead. Controller switching goes through the SwitchController Behavior against ros2_control directly, and the clearpath mecanum drive controller is a pure ros2_control ChainableControllerInterface with no MoveIt shim. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…r-base-link Fix: Make robot_state_publisher the sole owner of the ridgeback_base_link transform in hangar_sim
Co-authored-by: marty-mcfly-bot[bot] <marty-mcfly-bot[bot]@users.noreply.github.com>
…-pose-stamp Fix: Nav objectives discard click-time pose stamps
…rface slightly decrease path length in Plan Path Along Surface
…canum-shim Remove dead MoveIt mecanum controller-handle shim from hangar_sim
Bumps [actions/checkout](https://github.com/actions/checkout) from 6.0.3 to 7.0.0. - [Release notes](https://github.com/actions/checkout/releases) - [Commits](actions/checkout@v6.0.3...v7) --- updated-dependencies: - dependency-name: actions/checkout dependency-version: 7.0.0 dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com>
…s/actions/checkout-7.0.0 chore(deps): bump actions/checkout from 6.0.3 to 7.0.0
…shing-load Fix lab_sim camera point-cloud stalls
Bumps [korthout/backport-action](https://github.com/korthout/backport-action) from 4.5.2 to 4.6.0. - [Release notes](https://github.com/korthout/backport-action/releases) - [Commits](korthout/backport-action@6606540...2e830a1) --- updated-dependencies: - dependency-name: korthout/backport-action dependency-version: 4.6.0 dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com>
…s/korthout/backport-action-4.6.0 chore(deps): bump korthout/backport-action from 4.5.2 to 4.6.0
…rces_ MoveIt Pro 10.0 (PickNikRobotics/moveit_pro#20288) privatizes SharedResourcesNode::shared_resources_ behind the public getBehaviorContext() accessor. Update the example and lab_sim Behaviors to the new API so they compile against the 10.0 base image. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…resources-to-get-behavior-context Migrate Behaviors from `shared_resources_` to `getBehaviorContext()`
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…-to-sam3-20260712 Refactor perception objectives to use SAM3
The Navigate to Clicked Point objectives overrode the nav2 action behaviors' ignore_stamp_time port to false, forcing nav2 to transform the clicked goal pose into the costmap frame at the exact click-time stamp. During (re)planning that stamp ages past transform_tolerance and falls out of the TF buffer, producing "extrapolation into the past" and aborting the objective. Restoring the port's default (true) makes nav2 resolve the goal against latest-available TF. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…ed-point-tf-timing Fix: Navigate to Clicked Point objectives abort with TF extrapolation error
Co-authored-by: marty-mcfly-bot[bot] <marty-mcfly-bot[bot]@users.noreply.github.com>
Bumps [PickNikRobotics/moveit_pro_lint](https://github.com/picknikrobotics/moveit_pro_lint) from 0.0.1 to 0.0.2. - [Release notes](https://github.com/picknikrobotics/moveit_pro_lint/releases) - [Commits](PickNikRobotics/moveit_pro_lint@v0.0.1...v0.0.2) --- updated-dependencies: - dependency-name: PickNikRobotics/moveit_pro_lint dependency-version: 0.0.2 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com>
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Bumps PickNikRobotics/moveit_pro_lint from 0.0.1 to 0.0.2.
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b175292Merge pull request #3 from PickNikRobotics/deprecate-description8e2e5a6fix: deprecate the old _description attributeDependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting
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