Patch 2

.codespell_words

@@ -0,0 +1 @@
+SINIC

.docker/Dockerfile

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+# syntax = docker/dockerfile:1.3
+
+ARG ROS_DISTRO=rolling
+ARG GZ_VERSION=ionic
+
+######################### Tutorial Image  #################################################
+
+FROM moveit/moveit2:${ROS_DISTRO}-source as tutorial_image
+
+LABEL org.opencontainers.image.description "This container has working versions of the tutorials discussed here: https://moveit.picknik.ai/main/doc/tutorials/tutorials.html"
+
+ARG GZ_VERSION
+
+# Copy sources from docker context
+COPY . src/moveit2_tutorials
+
+# Fetch required upstream sources for building
+RUN vcs import src < src/moveit2_tutorials/.github/upstream.repos
+
+######################### Hello World Tutorial  #########################################
+
+# Create a new package using the command from the tutorial
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    cd "src" &&\
+    ros2 pkg create \
+    --build-type ament_cmake \
+    --dependencies moveit_ros_planning_interface moveit_visual_tools rclcpp \
+    --node-name hello_moveit hello_moveit
+
+# Replace template hello_moveit.cpp with implementation from planning_around_objects
+COPY ./doc/tutorials/planning_around_objects/hello_moveit.cpp src/hello_moveit/src/hello_moveit.cpp
+
+######################### Pick and Place (MTC) Image  #########################################
+
+# Create a new package using the command from the tutorial
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    ros2 pkg create \
+        --build-type ament_cmake \
+        --destination-directory src \
+        --dependencies moveit_task_constructor_core rclcpp \
+        --node-name mtc_node mtc_tutorial
+
+# Replace template mtc_node.cpp with the example file
+COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp src/mtc_tutorial/src/mtc_node.cpp
+
+# Add the launch folder to the tutorial package and CMakeLists.txt
+COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/launch src/mtc_tutorial/launch
+
+# Install Gazebo, which is needed by some dependencies.
+RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
+    sudo apt update && \
+    sudo apt-get install -y "gz-${GZ_VERSION}"
+
+# Add install(DIRECTORY launch  DESTINATION share/${PROJECT_NAME}) to CMakeLists.txt
+RUN sed -i "s|ament_package()|install(DIRECTORY launch  DESTINATION share/\${PROJECT_NAME})\nament_package()|g" src/mtc_tutorial/CMakeLists.txt
+# Build the tutorials and set up the entrypoint/bashrc
+RUN --mount=type=cache,target=/root/.ccache/ \
+    # Enable ccache
+    . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+        --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+                     -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+        --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \
+        --event-handlers desktop_notification- status- && \
+    ccache -s && \
+    rm -rf /var/lib/apt/lists/* && \
+    # Update /ros_entrypoint.sh to source our new workspace
+    sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/install/setup.bash#g" /ros_entrypoint.sh && \
+    echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
+    echo "source /root/ws_moveit/install/setup.bash" >> /root/.bashrc

.docker/README.md

@@ -0,0 +1,9 @@
+# MoveIt Docker Containers
+
+For more information see the pages [Continuous Integration and Docker](http://moveit.ros.org/documentation/contributing/continuous_integration.html) and [Using Docker Containers with MoveIt](https://moveit.picknik.ai/main/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.html).
+
+To build the Docker image locally, run the following from the root folder of this repository.
+
+    docker build -f .docker/Dockerfile -t moveit2_tutorials --build-arg ROS_DISTRO=${ROS_DISTRO}.
+
+where `${ROS_DISTRO}` should be available if you have a ROS installation sourced locally, else you can pick a target release, e.g., `humble` or `rolling`.

.docker/docker-compose.yml

@@ -0,0 +1,40 @@
+# Example command:
+#   Humble on a NVIDIA system:
+#   DOCKER_IMAGE=humble-humble-tutorial-source docker compose run gpu
+#   Rolling without discrete graphics:
+#   DOCKER_IMAGE=main-rolling-tutorial-source compose run cpu
+
+services:
+  cpu:
+    image: moveit/moveit2:${DOCKER_IMAGE}
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: /bin/bash
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+  gpu:
+    image: moveit/moveit2:${DOCKER_IMAGE}
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: /bin/bash
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITIES: all

.docker/gui-docker

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+#!/bin/bash -u
+
+# This script is used to run a docker container with graphics support.
+# All arguments to this script except "-c <container_name>" will be appended to a docker run command.
+# If a container name is specified, and this container already exists, the container is re-entered,
+# which easily allows entering the same persistent container from multiple terminals.
+# See documentation for detailed examples: https://moveit.ros.org/install/docker/
+
+# Example commands:
+# ./gui-docker --rm -it moveit/moveit:foxy-source /bin/bash     # Run a (randomly named) container that is removed on exit
+# ./gui-docker -v ~/ros_ws:/root/ros_ws --rm -it moveit/moveit:foxy-source /bin/bash   # Same, but also link host volume ~/ros_ws to /root/ros_ws in the container
+# ./gui-docker -c container_name                                  # Start (or continue) an interactive bash in a moveit/moveit:foxy-source container
+# ./gui-docker                                                    # Same, but use the default container name "default_moveit_container"
+
+function check_nvidia2() {
+    # If we don't have an NVIDIA graphics card, bail out
+    lspci | grep -qi "vga .*nvidia" || return 1
+    # If we don't have the nvidia runtime, bail out
+    if ! docker -D info | grep -qi "runtimes.* nvidia" ; then
+       echo "nvidia-docker v2 not installed (see https://github.com/NVIDIA/nvidia-docker/wiki)"
+       return 2
+    fi
+    echo "found nvidia-docker v2"
+    DOCKER_PARAMS="\
+      --runtime=nvidia \
+      --env=NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all} \
+      --env=NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}all"
+    return 0
+}
+
+function check_nvidia1() {
+    # If we don't have an NVIDIA graphics card, bail out
+    lspci | grep -qi "vga .*nvidia" || return 1
+    # Check whether nvidia-docker is available
+    if ! which nvidia-docker > /dev/null ; then
+       echo "nvidia-docker v1 not installed either"
+       return 2
+    fi
+    # Check that nvidia-modprobe is installed
+    if ! which nvidia-modprobe > /dev/null ; then
+       echo "nvidia-docker-plugin requires nvidia-modprobe. Please install it!"
+       return 3
+    fi
+    # Retrieve device parameters from nvidia-docker-plugin
+    if ! DOCKER_PARAMS=$(curl -s http://localhost:3476/docker/cli) ; then
+       echo "nvidia-docker-plugin not responding on http://localhost:3476/docker/cli"
+       echo "See https://github.com/NVIDIA/nvidia-docker/wiki/Installation-(version-1.0)"
+       return 3
+    fi
+    echo "found nvidia-docker v1"
+    DOCKER_EXECUTABLE=nvidia-docker
+}
+
+function check_dri() {
+    # If there is no /dev/dri, bail out
+    test -d /dev/dri || return 1
+    DOCKER_PARAMS="--device=/dev/dri --group-add video"
+}
+
+function transfer_x11_permissions() {
+    # store X11 access rights in temp file to be passed into docker container
+    XAUTH=/tmp/.docker.xauth
+    touch $XAUTH
+    xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+}
+
+function count_positional_args() {
+    while true ; do
+       case "${1:-}" in
+          # Skip common options with a subsequent positional argument
+          # This list is not exhaustive! Augment as you see fit.
+          -v|--volume) shift ;;
+          -w) shift ;;
+          -e) shift ;;
+          # Skip all other options
+          -*) ;;
+          *) break ;;
+       esac
+       shift
+    done
+    # Return remaining number of arguments
+    echo $#
+}
+
+if [ $# -eq 0 ] ; then
+   # If no options are specified at all, use the name "default_moveit_container"
+   CONTAINER_NAME=default_moveit_container
+else
+  # Check for option -c or --container in first position
+  case "$1" in
+    -c|--container)
+      shift
+      # If next argument is not an option, use it as the container name
+      if [[ "${1:-}" != -* ]] ; then
+         CONTAINER_NAME="${1:-}"
+         shift
+      fi
+      # Set default container name if still undefined
+      CONTAINER_NAME="${CONTAINER_NAME:-default_moveit_container}"
+      ;;
+  esac
+fi
+
+transfer_x11_permissions
+
+# Probe for nvidia-docker (version 2 or 1)
+check_nvidia2 || check_nvidia1 || check_dri || echo "No supported graphics card found"
+
+DOCKER_EXECUTABLE=${DOCKER_EXECUTABLE:-docker}
+
+# If CONTAINER_NAME was specified and this container already exists, continue it
+if [ -n "${CONTAINER_NAME:-}" ] ; then
+   if [ -z "$($DOCKER_EXECUTABLE ps -aq --filter name=^$CONTAINER_NAME\$)" ] ; then
+      # container not yet existing: add an option to name the container when running docker below
+      NAME_OPTION="--name=$CONTAINER_NAME"
+      if [ "$(count_positional_args $@)" == "0" ] ; then
+         # If no further (positional) arguments were provided, start a bash in the default image (for dummy users)
+         DUMMY_DEFAULTS="-it moveit/moveit:foxy-source bash"
+      fi
+   else
+      if [ -z "$($DOCKER_EXECUTABLE ps -q --filter name=^$CONTAINER_NAME\$)" ] ; then
+         echo -n "Start existing, but stopped container: "
+         docker start $CONTAINER_NAME
+      fi
+      echo "Entering container: $CONTAINER_NAME"
+      if [ $# -eq 0 ] ; then
+         docker exec -it $CONTAINER_NAME bash
+      else
+         docker exec $CONTAINER_NAME $@
+      fi
+      rm $XAUTH
+      exit 0
+   fi
+fi
+
+${DOCKER_EXECUTABLE:-docker} run \
+    --env="DISPLAY=$DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --env="XAUTHORITY=$XAUTH" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    --volume="$XAUTH:$XAUTH" \
+    ${NAME_OPTION:-} \
+    ${DOCKER_PARAMS:-} \
+    $@ ${DUMMY_DEFAULTS:-}
+
+# cleanup
+rm $XAUTH

.dockerignore

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+__pycache__
+**/.git
+**/_scripts
+**/_static
+**/_templates
+**/build
+**/.vscode
+*.md
+*.rst

.github/ISSUE_TEMPLATE.md

@@ -3,8 +3,8 @@
 Overview of your issue here.
 
 ### Your environment
-* ROS Distro: [Dashing|Eloquent|Foxy|Galactic|Rolling]
-* OS Version: e.g. Ubuntu 20.04
+* ROS Distro: [Foxy|Galactic|Humble|Rolling]
+* OS Version: e.g. Ubuntu 22.04
 * Source or Binary build?
 * If binary, which release version?
 * If source, which git commit or tag?

.github/PULL_REQUEST_TEMPLATE.md

@@ -4,6 +4,6 @@ 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)
-- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/ros-planning/moveit2/pulls) to support the maintainers
+- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/moveit/moveit2/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/dependabot.yml

@@ -0,0 +1,8 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "daily"
+    commit-message:
+      prefix: "🛠️"

.github/mergify.yml

@@ -1,4 +1,16 @@
 pull_request_rules:
+  - name: backport to humble at reviewers discretion
+    conditions:
+      - base=main
+      - "label=backport-humble"
+    actions:
+      backport:
+        branches:
+          - humble
+        labels:
+          - humble
+        title: Backport of {{ title }} (#{{ number }}) to {{ destination_branch }}
+
   - name: backport to galactic at reviewers discretion
     conditions:
       - base=main
@@ -7,6 +19,9 @@ pull_request_rules:
       backport:
         branches:
           - galactic
+        labels:
+          - galactic
+        title: Backport of {{ title }} (#{{ number }}) to {{ destination_branch }}
 
   - name: backport to foxy at reviewers discretion
     conditions:
@@ -16,6 +31,9 @@ pull_request_rules:
       backport:
         branches:
           - foxy
+        labels:
+          - foxy
+        title: Backport of {{ title }} (#{{ number }}) to {{ destination_branch }}
 
   - name: ask to resolve conflict
     conditions:

.github/upstream.repos

@@ -1,17 +1,38 @@
 repositories:
-  launch_param_builder:
-    type: git
-    url: https://github.com/PickNikRobotics/launch_param_builder
-    version: main
   moveit_task_constructor:
     type: git
-    url: https://github.com/ros-planning/moveit_task_constructor.git
+    url: https://github.com/moveit/moveit_task_constructor.git
     version: ros2
   moveit_visual_tools:
     type: git
-    url: https://github.com/ros-planning/moveit_visual_tools
+    url: https://github.com/moveit/moveit_visual_tools
     version: ros2
   rosparam_shortcuts:
     type: git
     url: https://github.com/PickNikRobotics/rosparam_shortcuts
     version: ros2
+  rviz_visual_tools:
+    type: git
+    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
+    version: ros2
+  # Remove ros2_kortex when rolling binaries are available.
+  ros2_kortex:
+    type: git
+    url: https://github.com/Kinovarobotics/ros2_kortex.git
+    version: main
+  # Remove ros2_robotiq_gripper when rolling binaries are available.
+  ros2_robotiq_gripper:
+    type: git
+    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
+    version: main
+  # Serial is a dependency of ros2_robotiq_gripper. Remove when ros2_robotiq_gripper binaries are available.
+  serial:
+    type: git
+    url: https://github.com/tylerjw/serial.git
+    version: ros2
+  # This package was removed from binaries in the 2025-01-02 Rolling sync.
+  # If/when this is re-added, can remove from this list.
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: rolling