[ros2]: Sync with master branch

core/src/solvers/cartesian_path.cpp

@@ -41,6 +41,7 @@
 
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit/trajectory_processing/time_parameterization.h>
+#include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_state/cartesian_interpolator.h>
 
 using namespace trajectory_processing;
@@ -56,6 +57,8 @@ CartesianPath::CartesianPath() {
 	p.declare<double>("step_size", 0.01, "step size between consecutive waypoints");
 	p.declare<double>("jump_threshold", 1.5, "acceptable fraction of mean joint motion per step");
 	p.declare<double>("min_fraction", 1.0, "fraction of motion required for success");
+	p.declare<kinematics::KinematicsQueryOptions>("kinematics_options", kinematics::KinematicsQueryOptions(),
+	                                              "KinematicsQueryOptions to pass to CartesianInterpolator");
 }
 
 void CartesianPath::init(const core::RobotModelConstPtr& /*robot_model*/) {}
@@ -96,7 +99,8 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
 	double achieved_fraction = moveit::core::CartesianInterpolator::computeCartesianPath(
 	    &(sandbox_scene->getCurrentStateNonConst()), jmg, trajectory, &link, target, true,
 	    moveit::core::MaxEEFStep(props.get<double>("step_size")),
-	    moveit::core::JumpThreshold(props.get<double>("jump_threshold")), is_valid);
+	    moveit::core::JumpThreshold(props.get<double>("jump_threshold")), is_valid,
+	    props.get<kinematics::KinematicsQueryOptions>("kinematics_options"));
 
 	assert(!trajectory.empty());  // there should be at least the start state
 	result = std::make_shared<robot_trajectory::RobotTrajectory>(sandbox_scene->getRobotModel(), jmg);

core/src/task.cpp

@@ -79,10 +79,12 @@ TaskPrivate::TaskPrivate(Task* me, const std::string& ns)
 TaskPrivate& TaskPrivate::operator=(TaskPrivate&& other) {
 	this->WrapperBasePrivate::operator=(std::move(other));
 	ns_ = std::move(other.ns_);
-	introspection_ = std::move(other.introspection_);
 	robot_model_ = std::move(other.robot_model_);
 	robot_model_loader_ = std::move(other.robot_model_loader_);
 	task_cbs_ = std::move(other.task_cbs_);
+	// Ensure same introspection status, but keep the existing introspection instance,
+	// which stores this task pointer and includes it in its task_id_
+	static_cast<Task*>(me_)->enableIntrospection(static_cast<bool>(other.introspection_));
 	return *this;
 }
 
@@ -211,17 +213,17 @@ void Task::init() {
 	stages()->pimpl()->resolveInterface(InterfaceFlags({ GENERATE }));
 
 	// provide introspection instance to all stages
-	impl->setIntrospection(impl->introspection_.get());
+	auto* introspection = impl->introspection_.get();
 	impl->traverseStages(
-	    [impl](Stage& stage, int /*depth*/) {
-		    stage.pimpl()->setIntrospection(impl->introspection_.get());
+	    [introspection](Stage& stage, int /*depth*/) {
+		    stage.pimpl()->setIntrospection(introspection);
 		    return true;
 	    },
 	    1, UINT_MAX);
 
 	// first time publish task
-	if (impl->introspection_)
-		impl->introspection_->publishTaskDescription();
+	if (introspection)
+		introspection->publishTaskDescription();
 }
 
 bool Task::canCompute() const {

core/test/test_move_to.cpp

@@ -1,4 +1,5 @@
 #include "models.h"
+#include "stage_mockups.h"
 
 #include <moveit/task_constructor/task.h>
 #include <moveit/task_constructor/stages/move_to.h>
@@ -156,6 +157,33 @@ TEST_F(PandaMoveTo, poseIKFrameAttachedSubframeTarget) {
 	EXPECT_ONE_SOLUTION;
 }
 
+// https://github.com/ros-planning/moveit_task_constructor/pull/371#issuecomment-1151630657
+TEST(Task, taskMoveConstructor) {
+	auto create_task = [] {
+		moveit::core::RobotModelConstPtr robot_model = getModel();
+		Task t("first");
+		t.setRobotModel(robot_model);
+		auto ref = new stages::FixedState("fixed");
+		auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
+		ref->setState(scene);
+
+		t.add(Stage::pointer(ref));
+		t.add(std::make_unique<ConnectMockup>());
+		t.add(std::make_unique<MonitoringGeneratorMockup>(ref));
+		return t;
+	};
+
+	Task t;
+	t = create_task();
+
+	try {
+		t.init();
+		EXPECT_TRUE(t.plan(1));
+	} catch (const InitStageException& e) {
+		ADD_FAILURE() << "InitStageException:" << std::endl << e << t;
+	}
+}
+
 int main(int argc, char** argv) {
 	testing::InitGoogleTest(&argc, argv);
 	rclcpp::init(argc, argv);