Added moveit

moveit/.clang-format

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+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+...

moveit/.clang-tidy

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+---
+Checks:          '-*,
+                  performance-*,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  modernize-avoid-bind,
+                  misc-unused-parameters,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ClassMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           UPPER_CASE
+...

moveit/.docker/README.md

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+# 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.ros.org/install/docker/).

moveit/.docker/ci-testing/Dockerfile

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+# moveit/moveit:noetic-ci-testing
+# Sets up a base image to use for running Continuous Integration on Travis
+
+ARG IMAGE=noetic
+FROM moveit/moveit:${IMAGE}-ci
+MAINTAINER Robert Haschke [email protected]
+
+# Switch to ros-testing
+RUN echo "deb http://packages.ros.org/ros-testing/ubuntu `lsb_release -cs` main" | tee /etc/apt/sources.list.d/ros1-latest.list
+
+# Upgrade packages to ros-testing and clean apt-cache within one RUN command
+RUN apt-get -qq update && \
+    apt-get -qq -y dist-upgrade && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/*

moveit/.docker/ci/Dockerfile

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+# moveit/moveit:noetic-ci
+# Sets up a base image to use for running Continuous Integration on Travis
+
+ARG ROS_DISTRO=noetic
+FROM ros:${ROS_DISTRO}-ros-base
+MAINTAINER Dave Coleman [email protected]
+
+ENV TERM xterm
+
+# Setup (temporary) ROS workspace
+WORKDIR /root/ws_moveit
+
+# Copy MoveIt sources from docker context
+COPY . src/moveit
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
+RUN \
+    # Update apt package list as previous containers clear the cache
+    apt-get -q update && \
+    apt-get -q -y dist-upgrade && \
+    #
+    # Install some base dependencies
+    apt-get -q install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo \
+        # Preferred build tools
+        python$(test "${ROS_DISTRO}" = "noetic" && echo 3)-catkin-tools \
+        clang clang-format-10 clang-tidy clang-tools \
+        ccache && \
+    #
+    # Download MoveIt sources, so that we can fetch all necessary dependencies
+    wstool init --shallow src src/moveit/.github/workflows/upstream.rosinstall && \
+    git clone --depth 1 --branch master https://github.com/ros-planning/moveit_resources src/moveit_resources && \
+    #
+    # Download all dependencies of MoveIt
+    rosdep update && \
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+    # Remove the source code from this container
+    rm -rf src && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/* && \
+    # Globally disable git security
+    # https://github.blog/2022-04-12-git-security-vulnerability-announced
+    git config --global --add safe.directory "*"
+
+# Continous Integration Setting
+ENV IN_DOCKER 1

moveit/.docker/experimental/Dockerfile

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+# moveit/moveit:master-experimental
+# Based on a moveit source install, adds the mongo driver and the warehouse packages
+
+FROM moveit/moveit:master-source
+
+# installing mongocxx driver for the warehouse
+RUN git clone -b 26compat https://github.com/mongodb/mongo-cxx-driver.git && \
+    apt-get update -qq && \
+    apt-get -qq install -y scons mongodb && \
+    cd mongo-cxx-driver && \
+    scons --use-system-boost --prefix=/usr/local/ --full --disable-warnings-as-errors && \
+    ls /usr/local/lib && \
+    # scons install && \
+    rm -rf /var/lib/apt/lists/*
+
+# Download warehouse source
+RUN wstool set -yu warehouse_ros_mongo --git https://github.com/ros-planning/warehouse_ros_mongo.git -v jade-devel && \
+    wstool set -yu warehouse_ros --git https://github.com/ros-planning/warehouse_ros.git -v jade-devel
+
+# build the workspace
+RUN catkin build --limit-status-rate 0.001 --no-notify

moveit/.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:master-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:master-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:master-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 $@)" == "0" ] ; then
+         # If no further (positional) arguments were provided, start a bash in the default image (for dummy users)
+         DUMMY_DEFAULTS="-it moveit/moveit:master-source bash"
+      fi
+   else
+      if [ -z "$($DOCKER_EXECUTABLE ps -q --filter name=^$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

moveit/.docker/release/Dockerfile

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+# Full debian-based install of MoveIt using apt-get
+
+ARG ROS_DISTRO=noetic
+FROM ros:${ROS_DISTRO}-ros-base
+MAINTAINER Dave Coleman [email protected]
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+RUN apt-get update -q && \
+    apt-get dist-upgrade -q -y && \
+    apt-get install -y ros-${ROS_DISTRO}-moveit-* && \
+    rm -rf /var/lib/apt/lists/*