cloned_repos

moveit_task_constructor/.clang-format

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+---
+Language:      Cpp
+BasedOnStyle:  Google
+AccessModifierOffset: -3
+AlignAfterOpenBracket: Align
+AlignEscapedNewlinesLeft: true
+AlignTrailingComments: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterClass: true
+  AfterControlStatement: false
+  AfterEnum: true
+  AfterFunction: false
+  AfterNamespace: false
+  AfterStruct: true
+  AfterUnion: true
+  BeforeCatch: false
+  BeforeElse: false
+  IndentBraces: false
+  SplitEmptyRecord: false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Custom
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: false
+DerivePointerBinding: false
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+IndentWidth: 3
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakFirstLessLess: 1000
+PenaltyBreakString: 100
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 70
+PointerBindsToType: true
+SortIncludes: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+Standard: Auto
+TabWidth: 3
+UseTab: ForIndentation
+...

moveit_task_constructor/.clang-tidy

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+---
+Checks:          'performance-*,
+                  -performance-noexcept-move-constructor,
+                  -clang-analyzer-core.CallAndMessage,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-use-using,
+                  modernize-loop-convert,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: '.*/moveit/task_constructor/.*\.h'
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           aNy_CasE # CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           aNy_CasE # 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_task_constructor/.pre-commit-config.yaml

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+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.0.1
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+      - id: black
+        args: ["--line-length", "100"]
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-10
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ["-fallback-style=none", "-i"]
+      - id: catkin_lint
+        name: catkin_lint
+        description: Check package.xml and cmake files
+        entry: catkin_lint .
+        language: system
+        always_run: true
+        pass_filenames: false
+
+  - repo: local
+    hooks:
+      - id: misspelled-moveit
+        name: misspelled-moveit
+        description: MoveIt should be spelled exactly as MoveIt
+        language: pygrep
+        entry: Moveit|MoveIt!
+        exclude: .pre-commit-config.yaml|README.md

moveit_task_constructor/.vscode/c_cpp_properties.json

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+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/cenk/catkin_ws/devel/include/**",
+        "/opt/ros/noetic/include/**",
+        "/home/cenk/catkin_ws/src/air_hardware_interface/include/**",
+        "/home/cenk/catkin_ws/src/air_moveit_config/include/**",
+        "/home/cenk/catkin_ws/src/moveit_task_constructor/core/include/**",
+        "/home/cenk/catkin_ws/src/moveit_task_constructor/demo/include/**",
+        "/home/cenk/catkin_ws/src/octomap_mapping/octomap_server/include/**",
+        "/home/cenk/catkin_ws/src/qbdevice-ros/qb_device_control/include/**",
+        "/home/cenk/catkin_ws/src/qbdevice-ros/qb_device_driver/include/**",
+        "/home/cenk/catkin_ws/src/qbdevice-ros/qb_device_gazebo/include/**",
+        "/home/cenk/catkin_ws/src/qbdevice-ros/qb_device_hardware_interface/include/**",
+        "/home/cenk/catkin_ws/src/qbdevice-ros/qb_device_msgs/include/**",
+        "/home/cenk/catkin_ws/src/qbdevice-ros/qb_device_srvs/include/**",
+        "/home/cenk/catkin_ws/src/qbdevice-ros/qb_device_utils/include/**",
+        "/home/cenk/catkin_ws/src/qbhand-ros/qb_hand_gazebo/include/**",
+        "/home/cenk/catkin_ws/src/qbhand-ros/qb_hand_hardware_interface/include/**",
+        "/home/cenk/catkin_ws/src/realsense-ros/realsense2_camera/include/**",
+        "/home/cenk/catkin_ws/src/moveit_task_constructor/rviz_marker_tools/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

moveit_task_constructor/.vscode/settings.json

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+{
+    "ros.distro": "noetic",
+    "python.autoComplete.extraPaths": [
+        "/home/cenk/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

moveit_task_constructor/LICENSE.txt

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+BSD 3-Clause License
+
+Copyright (c) 2017, Hamburg University
+Copyright (c) 2017, Bielefeld University
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

moveit_task_constructor/README.md

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+# MoveIt Task Constructor Framework
+
+The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks.
+It draws on the planning capabilities of [MoveIt](https://moveit.ros.org/) to solve individual subproblems in black-box *planning stages*.
+A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages.
+The framework enables the hierarchical organization of basic stages using *containers*, allowing for sequential as well as parallel compositions.
+
+## Videos
+
+- Demo video associated with [ICRA 2019 paper](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf)
+
+  [![](https://img.youtube.com/vi/fCORKVYsdDI/0.jpg)](https://www.youtube.com/watch?v=fCORKVYsdDI)
+
+- [Presentation @ ROSCon 2018 (Madrid)](https://vimeo.com/293432325)
+- [Presentation @ MoveIt workshop 2019 (Macau)](https://www.youtube.com/watch?v=a8r7O2bs1Mc)
+
+## Tutorial
+
+We provide a tutorial for a pick-and-place pipeline without bells & whistles [as part of the MoveIt tutorials](https://ros-planning.github.io/moveit_tutorials/doc/moveit_task_constructor/moveit_task_constructor_tutorial.html).
+
+## Roadmap
+
+**Feedback, reports and contributions are very welcome.**
+
+The current roadmap is to replace MoveIt's old pick&place pipeline and provide a *transparent mechanism* to enable and debug complex motion sequences.
+
+Further planned features include
+
+- Entwined planning and execution for early execution, monitoring and code hooks
+- Subsolution blending
+- Parallel planning
+- Iterative solution improvement
+
+Ideas and requests for other interesting/useful features are welcome.
+
+## Citation
+
+If you use this framework in your project, please cite the associated paper:
+
+Michael Görner*, Robert Haschke*, Helge Ritter, and Jianwei Zhang,
+"MoveIt! Task Constructor for Task-Level Motion Planning",
+_International Conference on Robotics and Automation (ICRA)_, 2019, Montreal, Canada.
+[[DOI]](https://doi.org/10.1109/ICRA.2019.8793898) [[PDF]](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf).
+
+
+```plain
+@inproceedings{goerner2019mtc,
+  title={{MoveIt! Task Constructor for Task-Level Motion Planning}},
+  author={Görner, Michael* and Haschke, Robert* and Ritter, Helge and Zhang, Jianwei},
+  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
+  year={2019}
+}
+```

moveit_task_constructor/capabilities/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.1.3)
+project(moveit_task_constructor_capabilities)
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  moveit_core
+  moveit_ros_move_group
+  moveit_task_constructor_core
+  moveit_task_constructor_msgs
+  pluginlib
+  std_msgs
+)
+
+moveit_build_options()
+
+catkin_package(
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    actionlib
+    moveit_task_constructor_msgs
+    std_msgs
+)
+
+# Check for availability of moveit::core::MoveItErrorCode::toString
+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})
+
+install(TARGETS ${PROJECT_NAME}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(FILES capabilities_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

moveit_task_constructor/capabilities/capabilities_plugin_description.xml

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+<library path="libmoveit_task_constructor_capabilities">
+  <class name="move_group/ExecuteTaskSolutionCapability" type="move_group::ExecuteTaskSolutionCapability" base_class_type="move_group::MoveGroupCapability">
+    <description>
+      Action server to execute solutions generated through the MoveIt Task Constructor.
+    </description>
+  </class>
+</library>

moveit_task_constructor/capabilities/package.xml

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+<package format="2">
+	<name>moveit_task_constructor_capabilities</name>
+	<version>0.0.0</version>
+	<description>
+	MoveGroupCapabilites to interact with MoveIt
+	</description>
+
+	<maintainer email="[email protected]">Michael v4hn Goerner</maintainer>
+	<maintainer email="[email protected]">Robert Haschke</maintainer>
+
+	<license>BSD</license>
+
+	<buildtool_depend>catkin</buildtool_depend>
+
+	<depend>moveit_core</depend>
+	<depend>moveit_ros_move_group</depend>
+	<depend>actionlib</depend>
+	<depend>pluginlib</depend>
+	<depend>std_msgs</depend>
+	<depend>moveit_task_constructor_core</depend>
+	<depend>moveit_task_constructor_msgs</depend>
+
+	<export>
+		<moveit_ros_move_group plugin="${prefix}/capabilities_plugin_description.xml"/>
+	</export>
+</package>