#1930 Modified copy_ros_msg.cpp file

[Sujeendra]

… loops to range based forloop.

Description

MoveIt Python Library: Replace Traditional For Loops with Range-based For Loops moveit#1930

All the traditional for loops within moveit_py folder are replaced with range based for loop.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[peterdavidfagan]

Hi @Sujeendra,

I am going to cherry pick your changes and add you as a coauthor on the commit. Ideally I would ask for you to rebase this but it is likely quicker to simply cherry pick in this case.

[peterdavidfagan]

Hi @Sujeendra,

There are some errors when building the library based off of your changes see output below for details:

Starting >>> moveit
--- stderr: moveit_py                                               
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp: In function ‘shape_msgs::msg::Mesh moveit_py::moveit_py_utils::MeshToCpp(const pybind11::object&)’:
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:152:44: error: invalid initialization of reference of type ‘const pybind11::object&’ from expression of type ‘pybind11::handle*’
  152 |     mesh_cpp.vertices.push_back(PointToCpp(&vertex));
      |                                            ^~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:86:56: note: in passing argument 1 of ‘geometry_msgs::msg::Point moveit_py::moveit_py_utils::PointToCpp(const pybind11::object&)’
   86 | geometry_msgs::msg::Point PointToCpp(const py::object& point)
      |                                      ~~~~~~~~~~~~~~~~~~^~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:157:52: error: invalid initialization of reference of type ‘const pybind11::object&’ from expression of type ‘pybind11::handle’
  157 |     mesh_cpp.triangles.push_back(MeshTriangleToCpp(triangle));
      |                                                    ^~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:134:67: note: in passing argument 1 of ‘shape_msgs::msg::MeshTriangle moveit_py::moveit_py_utils::MeshTriangleToCpp(const pybind11::object&)’
  134 | shape_msgs::msg::MeshTriangle MeshTriangleToCpp(const py::object& mesh_triangle)
      |                                                 ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp: In function ‘moveit_msgs::msg::BoundingVolume moveit_py::moveit_py_utils::BoundingVolumeToCpp(const pybind11::object&)’:
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:172:29: error: invalid initialization of reference of type ‘const pybind11::object&’ from expression of type ‘pybind11::handle’
  172 |         SolidPrimitiveToCpp(primitive));
      |                             ^~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:120:71: note: in passing argument 1 of ‘shape_msgs::msg::SolidPrimitive moveit_py::moveit_py_utils::SolidPrimitiveToCpp(const pybind11::object&)’
  120 | shape_msgs::msg::SolidPrimitive SolidPrimitiveToCpp(const py::object& primitive)
      |                                                     ~~~~~~~~~~~~~~~~~~^~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:179:19: error: invalid initialization of reference of type ‘const pybind11::object&’ from expression of type ‘pybind11::handle’
  179 |         PoseToCpp(primitive_pose));
      |                   ^~~~~~~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:55:54: note: in passing argument 1 of ‘geometry_msgs::msg::Pose moveit_py::moveit_py_utils::PoseToCpp(const pybind11::object&)’
   55 | geometry_msgs::msg::Pose PoseToCpp(const py::object& pose)
      |                                    ~~~~~~~~~~~~~~~~~~^~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:185:52: error: invalid initialization of reference of type ‘const pybind11::object&’ from expression of type ‘pybind11::handle’
  185 |     bounding_volume_cpp.meshes.push_back(MeshToCpp(mesh));
      |                                                    ^~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:145:51: note: in passing argument 1 of ‘shape_msgs::msg::Mesh moveit_py::moveit_py_utils::MeshToCpp(const pybind11::object&)’
  145 | shape_msgs::msg::Mesh MeshToCpp(const py::object& mesh)
      |                                 ~~~~~~~~~~~~~~~~~~^~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:191:56: error: invalid initialization of reference of type ‘const pybind11::object&’ from expression of type ‘pybind11::handle’
  191 |     bounding_volume_cpp.mesh_poses.push_back(PoseToCpp(mesh_pose));
      |                                                        ^~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:55:54: note: in passing argument 1 of ‘geometry_msgs::msg::Pose moveit_py::moveit_py_utils::PoseToCpp(const pybind11::object&)’
   55 | geometry_msgs::msg::Pose PoseToCpp(const py::object& pose)
      |                                    ~~~~~~~~~~~~~~~~~~^~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp: In function ‘moveit_msgs::msg::CollisionObject moveit_py::moveit_py_utils::CollisionObjectToCpp(const pybind11::object&)’:
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:281:28: error: conversion from ‘pybind11::handle’ to non-scalar type ‘pybind11::object’ requested
  281 |     py::object primitive = py_primitive;
      |                            ^~~~~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:290:33: error: conversion from ‘pybind11::handle’ to non-scalar type ‘pybind11::object’ requested
  290 |     py::object primitive_pose = py_primitive_pose;
      |                                 ^~~~~~~~~~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:300:23: error: conversion from ‘pybind11::handle’ to non-scalar type ‘pybind11::object’ requested
  300 |     py::object mesh = py_mesh;
      |                       ^~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:309:28: error: conversion from ‘pybind11::handle’ to non-scalar type ‘pybind11::object’ requested
  309 |     py::object mesh_pose = py_mesh_pose;
      |                            ^~~~~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp: In function ‘moveit_msgs::msg::Constraints moveit_py::moveit_py_utils::ConstraintsToCpp(const pybind11::object&)’:
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:329:35: error: conversion from ‘pybind11::handle’ to non-scalar type ‘pybind11::object’ requested
  329 |     py::object joint_constraint = py_joint_constraint;
      |                                   ^~~~~~~~~~~~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:338:38: error: conversion from ‘pybind11::handle’ to non-scalar type ‘pybind11::object’ requested
  338 |     py::object position_constraint = py_position_constraint;
      |                                      ^~~~~~~~~~~~~~~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:347:41: error: conversion from ‘pybind11::handle’ to non-scalar type ‘pybind11::object’ requested
  347 |     py::object orientation_constraint = py_orientation_constraint;
      |                                         ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/peterdavidfagan/Code/ws_moveit2/src/moveit2/moveit_py/src/moveit/moveit_py_utils/src/copy_ros_msg.cpp:356:40: error: conversion from ‘pybind11::handle’ to non-scalar type ‘pybind11::object’ requested
  356 |     py::object visibility_constraint = py_visibility_constraint;
      |                                        ^~~~~~~~~~~~~~~~~~~~~~~~
gmake[2]: *** [src/moveit/moveit_py_utils/CMakeFiles/moveit_py_utils.dir/build.make:76: src/moveit/moveit_py_utils/CMakeFiles/moveit_py_utils.dir/src/copy_ros_msg.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:263: src/moveit/moveit_py_utils/CMakeFiles/moveit_py_utils.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< moveit_py [4.85s, exited with code 2]
Aborted  <<< moveit [0.26s]

Would it be possible to address these, I will retest your changes and merge them after these issues have been resolved.