Merge branch 'moveit:main' into main

Author: Demonmasterlqx

.github/workflows/ci.yaml

@@ -152,7 +152,7 @@ jobs:
 #        run: |
 #          testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v5
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.env.IMAGE }}

.github/workflows/docker.yaml

@@ -178,7 +178,7 @@ jobs:
     steps:
       - name: Delete Untagged Images
         if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
-        uses: actions/github-script@v7
+        uses: actions/github-script@v8
         with:
           github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
           script: |

.github/workflows/stale.yaml

@@ -75,7 +75,7 @@ jobs:
     steps:
       - name: Delete Untagged Images
         if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
-        uses: actions/github-script@v7
+        uses: actions/github-script@v8
         with:
           github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
           script: |

.github/workflows/tutorial_docker.yaml

@@ -37,15 +37,12 @@ repos:
     hooks:
       - id: black
 
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
     hooks:
       - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        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']
+        types_or: [c++, c, cuda]
+        args: ["-fallback-style=none"]
   - repo: https://github.com/codespell-project/codespell
     rev: v2.4.1
     hooks:

.pre-commit-config.yaml

@@ -160,7 +160,7 @@ TEST_F(TestAABB, TestPR2)
   auto pub_aabb =
       node->create_publisher<visualization_msgs::msg::Marker>("/visualization_aabb", rmw_qos_profile_default);
   auto pub_obb = node->create_publisher<visualization_msgs::msg::Marker>("/visualization_obb", rmw_qos_profile_default);
-  rclcpp::Rate loop_rate(10);
+  rclcpp::WallRate loop_rate(10);
 
   // Wait for the publishers to establish connections
   sleep(5);

moveit_core/robot_state/test/test_aabb.cpp

@@ -219,7 +219,7 @@ TEST_F(HybridPlanningFixture, ActionCompletion)
     auto goal_handle_future = hp_action_client_->async_send_goal(goal_action_request_, send_goal_options_);
   });
 
-  rclcpp::Rate rate(10);
+  rclcpp::WallRate rate(10);
   while (!action_complete_)
   {
     executor_.spin_once();
@@ -241,7 +241,7 @@ TEST_F(HybridPlanningFixture, ActionCompletion)
     hp_action_client_->async_cancel_all_goals();
   });
 
-  rclcpp::Rate rate(10);
+  rclcpp::WallRate rate(10);
   while (!action_complete_)
   {
     executor_.spin_once();

moveit_ros/hybrid_planning/test/test_basic_integration.cpp

@@ -94,7 +94,7 @@ void TfPublisher::publishPlanningSceneFrames()
   tf2_ros::TransformBroadcaster broadcaster(context_->moveit_cpp_->getNode());
 #endif
   geometry_msgs::msg::TransformStamped transform;
-  rclcpp::Rate rate(rate_);
+  rclcpp::WallRate rate(rate_);
 
   while (keep_running_)
   {

moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp

@@ -135,11 +135,17 @@ void updateSlidingWindow(KinematicState& next_joint_state, std::deque<KinematicS
                          double max_expected_latency, const rclcpp::Time& cur_time);
 
 /**
- * \brief Create a Float64MultiArray message from given joint state
- * @param servo_params The configuration used by servo, required for selecting position vs velocity.
- * @param joint_state The joint state to be added into the Float64MultiArray.
- * @return The Float64MultiArray message.
+ * \brief Create a Float64MultiArray message from the given joint state.
+ *
+ * This function converts the joint state into a std_msgs::msg::Float64MultiArray message
+ * based on the configuration in the Servo parameters. It supports both position and
+ * velocity command modes, depending on the controller configuration.
+ *
+ * @param servo_params Configuration parameters used by Servo (e.g., command type: position or velocity).
+ * @param joint_state The current joint state to be converted into a Float64MultiArray message.
+ * @return The resulting Float64MultiArray message containing joint commands.
  */
+
 std_msgs::msg::Float64MultiArray composeMultiArrayMessage(const servo::Params& servo_params,
                                                           const KinematicState& joint_state);
 

moveit_ros/moveit_servo/include/moveit_servo/utils/common.hpp

@@ -66,6 +66,6 @@ class TrajectoryMonitorMiddlewareHandle : public TrajectoryMonitor::MiddlewareHa
   void sleep() override;
 
 private:
-  std::unique_ptr<rclcpp::Rate> rate_;
+  std::unique_ptr<rclcpp::WallRate> rate_;
 };
 }  // namespace planning_scene_monitor