Drop Melodic support

- py_binding_tools is released into Noetic only
- drop Python2 support
- drop TYPED_TEST_CASE

Author: rhaschke

.github/workflows/ci.yaml

@@ -19,10 +19,6 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: master-source
-            TARGET_CMAKE_ARGS: >-
-              -DCMAKE_BUILD_TYPE=Release
-              -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
           - IMAGE: noetic-source
             NAME: ccov
             TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"

capabilities/CMakeLists.txt

@@ -26,16 +26,11 @@ set(CMAKE_REQUIRED_INCLUDES ${catkin_INCLUDE_DIRS})
 set(CMAKE_REQUIRED_LIBRARIES ${catkin_LIBRARIES})
 set(CMAKE_REQUIRED_FLAGS -Wno-error)
 include(CheckCXXSymbolExists)
-check_cxx_symbol_exists(moveit::core::MoveItErrorCode::toString "moveit/utils/moveit_error_code.h" HAVE_MOVEIT_ERROR_CODE_TO_STRING)
-if(NOT HAVE_MOVEIT_ERROR_CODE_TO_STRING)
-  set(HAVE_MOVEIT_ERROR_CODE_TO_STRING 0)
-endif()
 
 add_library(${PROJECT_NAME}
    src/execute_task_solution_capability.cpp
 )
 add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-target_compile_definitions(${PROJECT_NAME} PRIVATE HAVE_MOVEIT_ERROR_CODE_TO_STRING=${HAVE_MOVEIT_ERROR_CODE_TO_STRING})
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 

capabilities/src/execute_task_solution_capability.cpp

@@ -109,12 +109,7 @@ void ExecuteTaskSolutionCapability::execCallback(
 		result.error_code = context_->plan_execution_->executeAndMonitor(plan);
 	}
 
-#if HAVE_MOVEIT_ERROR_CODE_TO_STRING
 	const std::string response = moveit::core::MoveItErrorCode::toString(result.error_code);
-#else
-	const std::string response = context_->plan_execution_->getErrorCodeString(result.error_code);
-#endif
-
 	if (result.error_code.val == moveit_msgs::MoveItErrorCodes::SUCCESS)
 		as_->setSucceeded(result, response);
 	else if (result.error_code.val == moveit_msgs::MoveItErrorCodes::PREEMPTED)

core/python/bindings/src/properties.cpp

@@ -129,20 +129,11 @@ boost::any PropertyConverterRegistry::fromPython(const py::object& po) {
 
 	if (PyBool_Check(o))
 		return (o == Py_True);
-#if PY_MAJOR_VERSION >= 3
 	if (PyLong_Check(o))
 		return PyLong_AS_LONG(o);
-#else
-	if (PyInt_Check(o))
-		return PyInt_AS_LONG(o);
-#endif
 	if (PyFloat_Check(o))
 		return PyFloat_AS_DOUBLE(o);
-#if PY_MAJOR_VERSION >= 3
 	if (PyUnicode_Check(o))
-#else
-	if (PyString_Check(o))
-#endif
 		return py::cast<std::string>(o);
 
 	const std::string& ros_msg_name = rosMsgName(o);

core/python/bindings/src/stages.cpp

@@ -114,7 +114,7 @@ void export_stages(pybind11::module& m) {
 		.def("addObject", &ModifyPlanningScene::addObject, R"(
 			Add a CollisionObject_ to the planning scene
 
-			.. _CollisionObject: https://docs.ros.org/en/melodic/api/moveit_msgs/html/msg/CollisionObject.html
+			.. _CollisionObject: https://docs.ros.org/en/noetic/api/moveit_msgs/html/msg/CollisionObject.html
 
 		)", "collision_object"_a)
 		.def("removeObject", &ModifyPlanningScene::removeObject,

core/test/test_cost_queue.cpp

@@ -5,10 +5,6 @@
 #include <gtest/gtest.h>
 #include <gmock/gmock-matchers.h>
 
-#ifndef TYPED_TEST_SUITE
-#define TYPED_TEST_SUITE(SUITE, TYPES) TYPED_TEST_CASE(SUITE, TYPES)
-#endif
-
 namespace mtc = moveit::task_constructor;
 
 // type-trait functions for OrderedTest<T>

core/test/test_pruning.cpp

@@ -6,10 +6,6 @@
 #include <list>
 #include <memory>
 
-#ifndef TYPED_TEST_SUITE
-#define TYPED_TEST_SUITE(SUITE, TYPES) TYPED_TEST_CASE(SUITE, TYPES)
-#endif
-
 using namespace moveit::task_constructor;
 
 using Pruning = TaskTestBase;