first commit

.clang-format

@@ -0,0 +1,75 @@
+---
+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
+...

.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
+...

.codespell_words

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+ang
+ans
+atleast
+ba
+dof
+dur
+iff
+keyserver
+nto
+ot
+parameterizes
+planed
+tork
+uint
+whis

.docker/.hadolint.yaml

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+failure-threshold: warning
+ignored: ["DL3008", "DL4006"]

.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/).

.docker/ci-testing/Dockerfile

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+# ghcr.io/ros-planning/moveit2:${OUR_ROS_DISTRO}-ci-testing
+# CI image using the ROS testing repository
+
+FROM osrf/ros2:testing
+LABEL maintainer Robert Haschke [email protected]
+
+ENV TERM xterm
+
+# Overwrite the ROS_DISTRO set in osrf/ros2:testing to the distro tied to this Dockerfile (OUR_ROS_DISTRO).
+# In case ROS_DISTRO is now different from what was set in osrf/ros2:testing, run `rosdep update` again
+# to get any missing dependencies.
+# https://docs.docker.com/engine/reference/builder/#using-arg-variables explains why ARG and ENV can't have
+# the same name (ROS_DISTRO is an ENV in the osrf/ros2:testing image).
+ARG OUR_ROS_DISTRO=rolling
+ENV ROS_DISTRO=${OUR_ROS_DISTRO}
+RUN rosdep update --rosdistro $ROS_DISTRO
+
+# Install ROS 2 base packages and build tools
+# We are installing ros-<distro>-ros-base here to mimic the behavior of the ros:<distro>-ros-base images.
+# This step is split into a separate layer so that we can rely on cached dependencies instead of having
+# to install them with every new build. The testing image and packages will only update every couple weeks.
+RUN \
+    # Update apt package list as previous containers clear the cache
+    apt-get -q update && \
+    apt-get -q -y upgrade && \
+    #
+    # Install base dependencies
+    apt-get -q install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo curl \
+        # Preferred build tools
+        clang clang-format-14 clang-tidy clang-tools \
+        ccache \
+        ros-"$ROS_DISTRO"-ros-base && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/*
+
+# Setup (temporary) ROS workspace
+WORKDIR /root/ws_moveit
+
+# Copy MoveIt sources from docker context
+COPY . src/moveit2
+
+# 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 upgrade && \
+    #
+    # Globally disable git security
+    # https://github.blog/2022-04-12-git-security-vulnerability-announced
+    git config --global --add safe.directory "*" && \
+    #
+    # Fetch all dependencies from moveit2.repos
+    vcs import src < src/moveit2/moveit2.repos && \
+    if [ -r src/moveit2/moveit2_"$ROS_DISTRO".repos ] ; then vcs import src < src/moveit2/moveit2_"$ROS_DISTRO".repos ; fi && \
+    #
+    # 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/*

.docker/ci/Dockerfile

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+# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci
+# ROS base image augmented with all MoveIt dependencies to use for CI
+
+ARG ROS_DISTRO=rolling
+FROM ros:${ROS_DISTRO}-ros-base
+LABEL maintainer Robert Haschke [email protected]
+
+ENV TERM xterm
+
+# Setup (temporary) ROS workspace
+WORKDIR /root/ws_moveit
+
+# Copy MoveIt sources from docker context
+COPY . src/moveit2
+
+# 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 upgrade --with-new-pkgs && \
+    #
+    # Install some base dependencies
+    apt-get -q install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo curl \
+        # Preferred build tools
+        clang clang-format-14 clang-tidy clang-tools \
+        ccache && \
+    #
+    # Globally disable git security
+    # https://github.blog/2022-04-12-git-security-vulnerability-announced
+    git config --global --add safe.directory "*" && \
+    #
+    # Fetch all dependencies from moveit2.repos
+    vcs import src < src/moveit2/moveit2.repos && \
+    if [ -r src/moveit2/moveit2_${ROS_DISTRO}.repos ] ; then vcs import src < src/moveit2/moveit2_${ROS_DISTRO}.repos ; fi && \
+    #
+    # 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/*