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Merged
merged 3 commits into from
Dec 4, 2024
Merged

Silent pybind11 warning #634

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821b595
Silent pybind11 warning
rhaschke Dec 2, 2024
f5a0a54
python: Add Task::setRobotModel
JafarAbdi Oct 24, 2024
d5e1376
Add Jammy build
rhaschke Dec 4, 2024
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3 changes: 2 additions & 1 deletion .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ jobs:
fail-fast: false
matrix:
env:
- IMAGE: jammy-ci
- IMAGE: noetic-source
NAME: ccov
TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
Expand All @@ -38,7 +39,7 @@ jobs:
CATKIN_LINT: true
CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
UNDERLAY: /root/ws_moveit/install
UNDERLAY: ${{ matrix.env.IMAGE != 'jammy-ci' && '/root/ws_moveit/install' || '' }}
DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master"
CCACHE_DIR: ${{ github.workspace }}/.ccache
BASEDIR: ${{ github.workspace }}/.work
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2 changes: 1 addition & 1 deletion core/cmake/pybind11.cmake.in
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@@ -1,5 +1,5 @@
# pybind11 must use the ROS python version
set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION_STRING})
set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION})

if(@INSTALLSPACE@)
include(${CMAKE_CURRENT_LIST_DIR}/pybind11Config.cmake)
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2 changes: 1 addition & 1 deletion core/python/CMakeLists.txt
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@@ -1,7 +1,7 @@
# We rely on pybind11's smart_holder branch imported pybind11 via git submodule

# pybind11 must use the ROS python version
set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION_STRING})
set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION})

# Use minimum-size optimization for pybind11 bindings
add_compile_options("-Os")
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1 change: 1 addition & 0 deletions core/python/bindings/src/core.cpp
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Expand Up @@ -414,6 +414,7 @@ void export_core(pybind11::module& m) {

.def("loadRobotModel", &Task::loadRobotModel, "robot_description"_a = "robot_description",
"Load robot model from given ROS parameter")
.def("setRobotModel", &Task::setRobotModel, "robot_model"_a, "Set the robot model for the task")
.def("getRobotModel", &Task::getRobotModel)
.def("enableIntrospection", &Task::enableIntrospection, "enabled"_a = true,
"Enable publishing intermediate results for inspection in ``rviz``")
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