Switch to package py_binding_tools

Author: rhaschke

.github/workflows/ci.yaml

@@ -130,7 +130,7 @@ jobs:
       - name: Install dependencies
         run: |
           apt-get update -q
-          apt-get install -y doxygen graphviz python3-pip
+          apt-get install -y doxygen graphviz python3-pip ros-noetic-py-binding-tools
           pip install -r core/doc/requirements.txt
 
       - name: Download ICI workspace

core/CMakeLists.txt

@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
 	roscpp
 	visualization_msgs
 	rviz_marker_tools
+	py_binding_tools
 )
 
 option(MOVEIT_CI_WARNINGS "Enable all warnings used by CI" OFF) # We use our own set of warnings

core/include/moveit/python/task_constructor/properties.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <pybind11/smart_holder.h>
-#include <moveit/python/pybind_rosmsg_typecasters.h>
+#include <py_binding_tools/ros_msg_typecasters.h>
 #include <moveit/task_constructor/properties.h>
 #include <boost/any.hpp>
 #include <typeindex>

core/package.xml

@@ -25,14 +25,14 @@
 	<depend>moveit_ros_planning</depend>
 	<depend>moveit_ros_planning_interface</depend>
 	<depend>moveit_task_constructor_msgs</depend>
+	<depend>py_binding_tools</depend>
 	<depend>visualization_msgs</depend>
 	<depend>rviz_marker_tools</depend>
 
 	<test_depend>rosunit</test_depend>
 	<test_depend>rostest</test_depend>
 	<test_depend>moveit_resources_fanuc_moveit_config</test_depend>
 	<test_depend>moveit_planners</test_depend>
-	<test_depend>moveit_commander</test_depend>
 
 	<export>
 		<moveit_task_constructor_core plugin="${prefix}/motion_planning_stages_plugin_description.xml" />

core/python/bindings/src/stages.cpp

@@ -40,7 +40,7 @@
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit_msgs/PlanningScene.h>
 #include <pybind11/stl.h>
-#include <moveit/python/pybind_rosmsg_typecasters.h>
+#include <py_binding_tools/ros_msg_typecasters.h>
 
 namespace py = pybind11;
 using namespace py::literals;

core/python/test/rostest_mps.py

@@ -3,7 +3,7 @@
 from __future__ import print_function
 import unittest
 import rostest
-from moveit_commander.roscpp_initializer import roscpp_initialize
+from py_binding_tools import roscpp_init
 from moveit_commander import PlanningSceneInterface
 from moveit.task_constructor import core, stages
 from geometry_msgs.msg import PoseStamped
@@ -113,5 +113,5 @@ def test_bw_remove_object(self):
 
 
 if __name__ == "__main__":
-    roscpp_initialize("test_mtc")
+    roscpp_init("test_mtc")
     rostest.rosrun("mtc", "mps", TestModifyPlanningScene)

core/python/test/rostest_mtc.py

@@ -3,7 +3,7 @@
 from __future__ import print_function
 import unittest
 import rostest
-from moveit_commander.roscpp_initializer import roscpp_initialize
+from py_binding_tools import roscpp_init
 from moveit.task_constructor import core, stages
 from geometry_msgs.msg import PoseStamped, Pose
 from geometry_msgs.msg import Vector3Stamped, Vector3
@@ -55,5 +55,5 @@ def createDisplacement(group, displacement):
 
 
 if __name__ == "__main__":
-    roscpp_initialize("test_mtc")
+    roscpp_init("test_mtc")
     rostest.rosrun("mtc", "base", Test)

core/python/test/rostest_trampoline.py

@@ -4,7 +4,7 @@
 from __future__ import print_function
 import unittest
 import rostest
-from moveit_commander.roscpp_initializer import roscpp_initialize
+from py_binding_tools import roscpp_init
 from moveit.task_constructor import core, stages
 from moveit.core.planning_scene import PlanningScene
 from geometry_msgs.msg import Vector3Stamped, Vector3, PoseStamped
@@ -131,5 +131,5 @@ def test_propagator(self):
 
 
 if __name__ == "__main__":
-    roscpp_initialize("test_mtc")
+    roscpp_init("test_mtc")
     rostest.rosrun("mtc", "trampoline", TestTrampolines)

demo/package.xml

@@ -23,6 +23,7 @@
 
   <exec_depend>moveit_task_constructor_capabilities</exec_depend>
   <exec_depend>moveit_resources_panda_moveit_config</exec_depend>
+  <exec_depend>py_binding_tools</exec_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>moveit_fake_controller_manager</test_depend>

demo/scripts/alternatives.py

@@ -2,10 +2,10 @@
 # -*- coding: utf-8 -*-
 
 from moveit.task_constructor import core, stages
-from moveit_commander.roscpp_initializer import roscpp_initialize
+from py_binding_tools import roscpp_init
 import time
 
-roscpp_initialize("mtc_tutorial_alternatives")
+roscpp_init("mtc_tutorial_alternatives")
 
 # Use the joint interpolation planner
 jointPlanner = core.JointInterpolationPlanner()