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Add environment as const to data storage, update RICB to 0.6.2, fix dependencies for unstable #114

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Jul 18, 2024
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Add environment as const to data storage, update RICB to 0.6.2, fix dependencies for unstable #114

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2 changes: 1 addition & 1 deletion dependencies.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ repositories:
ros_industrial_cmake_boilerplate:
type: git
url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
version: 0.6.0
version: 0.6.2
tesseract:
type: git
url: https://github.com/tesseract-robotics/tesseract.git
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6 changes: 3 additions & 3 deletions dependencies_unstable.repos
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Expand Up @@ -2,7 +2,7 @@ repositories:
ros_industrial_cmake_boilerplate:
type: git
url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
version: master
version: 0.6.2
tesseract:
type: git
url: https://github.com/tesseract-robotics/tesseract.git
Expand All @@ -22,11 +22,11 @@ repositories:
descartes_light:
type: git
url: https://github.com/swri-robotics/descartes_light.git
version: master
version: 0.4.3
opw_kinematics:
type: git
url: https://github.com/Jmeyer1292/opw_kinematics.git
version: master
version: 0.5.0
ifopt:
type: git
url: https://github.com/ethz-adrl/ifopt.git
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2 changes: 1 addition & 1 deletion dependencies_with_ext.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ repositories:
ros_industrial_cmake_boilerplate:
type: git
url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
version: 0.6.0
version: 0.6.2
tesseract_ext:
type: git
url: https://github.com/tesseract-robotics/tesseract_ext.git
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2 changes: 1 addition & 1 deletion tesseract_planning_server/src/tesseract_planning_server.cpp
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Expand Up @@ -249,7 +249,7 @@ void TesseractPlanningServer::onMotionPlanningCallback(
// Create solve data storage
auto data = std::make_unique<TaskComposerDataStorage>();
data->setData("planning_input", std::move(planning_input));
data->setData("environment", std::move(env));
data->setData("environment", std::shared_ptr<const tesseract_environment::Environment>(std::move(env)));
data->setData("profiles", profiles_);
auto move_profile_remapping = tesseract_rosutils::fromMsg(goal->request.move_profile_remapping);
if (!move_profile_remapping.empty())
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