[moveit_configs_utils] Switch warehouse defaults to SQLite

MIGRATION.md

@@ -3,6 +3,7 @@
 API changes in MoveIt releases
 
 ## ROS Rolling
+- [07/2026] Generated warehouse launch files now use SQLite instead of MongoDB. Use `moveit_warehouse_database_path` to select the SQLite database file. The MongoDB-specific `moveit_warehouse_host` and `moveit_warehouse_port` launch arguments were removed. By default, the database is created in `$ROS_HOME` (or `~/.ros`) with a config-package-specific filename.
 - [11/2024] All MoveIt 2 headers have been updated to use the .hpp extension. .h headers are now autogenerated with a deprecation warning, and may be removed in future releases. Please update your imports to use the .hpp headers.
 - [11/2024] Added flags to control padding to CollisionRequest. This change deprecates PlanningScene::checkCollisionUnpadded(..) functions. Please use PlanningScene::checkCollision(..) with a req.pad_environment_collisions = false;
 

moveit_configs_utils/moveit_configs_utils/launches.py

@@ -3,13 +3,14 @@
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
+    GroupAction,
     IncludeLaunchDescription,
 )
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetParameter
 from launch_ros.parameter_descriptions import ParameterValue
 
 from srdfdom.srdf import SRDF
@@ -134,52 +135,38 @@ def generate_spawn_controllers_launch(moveit_config):
 
 
 def generate_warehouse_db_launch(moveit_config):
-    """Launch file for warehouse database"""
+    """Launch file for SQLite warehouse database."""
     ld = LaunchDescription()
     ld.add_action(
         DeclareLaunchArgument(
             "moveit_warehouse_database_path",
-            default_value=str(
-                moveit_config.package_path / "default_warehouse_mongo_db"
+            default_value=os.path.join(
+                os.environ.get("ROS_HOME", os.path.expanduser("~/.ros")),
+                f"{moveit_config.package_path.name}_warehouse.sqlite",
             ),
         )
     )
     ld.add_action(DeclareBooleanLaunchArg("reset", default_value=False))
 
-    # The default DB port for moveit (not default MongoDB port to avoid potential conflicts)
-    ld.add_action(DeclareLaunchArgument("moveit_warehouse_port", default_value="33829"))
-
-    # The default DB host for moveit
     ld.add_action(
-        DeclareLaunchArgument("moveit_warehouse_host", default_value="localhost")
+        SetParameter(
+            name="warehouse_plugin",
+            value="warehouse_ros_sqlite::DatabaseConnection",
+        )
     )
-
-    # Load warehouse parameters
-    db_parameters = [
-        {
-            "overwrite": False,
-            "database_path": LaunchConfiguration("moveit_warehouse_database_path"),
-            "warehouse_port": LaunchConfiguration("moveit_warehouse_port"),
-            "warehouse_host": LaunchConfiguration("moveit_warehouse_host"),
-            "warehouse_exec": "mongod",
-            "warehouse_plugin": "warehouse_ros_mongo::MongoDatabaseConnection",
-        },
-    ]
-    # Run the DB server
-    db_node = Node(
-        package="warehouse_ros_mongo",
-        executable="mongo_wrapper_ros.py",
-        # TODO(dlu): Figure out if this needs to be run in a specific directory
-        # (ROS 1 version set cwd="ROS_HOME")
-        parameters=db_parameters,
+    ld.add_action(
+        SetParameter(
+            name="warehouse_host",
+            value=LaunchConfiguration("moveit_warehouse_database_path"),
+        )
     )
-    ld.add_action(db_node)
 
-    # If we want to reset the database, run this node
+    # If requested, reset the database and add the default scene and robot state.
     reset_node = Node(
         package="moveit_ros_warehouse",
         executable="moveit_init_demo_warehouse",
         output="screen",
+        parameters=[moveit_config.to_dict()],
         condition=IfCondition(LaunchConfiguration("reset")),
     )
     ld.add_action(reset_node)
@@ -277,7 +264,7 @@ def generate_demo_launch(moveit_config, launch_package_path=None):
         DeclareBooleanLaunchArg(
             "db",
             default_value=False,
-            description="By default, we do not start a database (it can be large)",
+            description="By default, we do not configure a warehouse database",
         )
     )
     ld.add_action(
@@ -309,31 +296,29 @@ def generate_demo_launch(moveit_config, launch_package_path=None):
         )
     )
 
+    # Limit warehouse parameters to the nodes that consume them.
     ld.add_action(
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                str(launch_package_path / "launch/move_group.launch.py")
-            ),
-        )
-    )
-
-    # Run Rviz and load the default config to see the state of the move_group node
-    ld.add_action(
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                str(launch_package_path / "launch/moveit_rviz.launch.py")
-            ),
-            condition=IfCondition(LaunchConfiguration("use_rviz")),
-        )
-    )
-
-    # If database loading was enabled, start mongodb as well
-    ld.add_action(
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                str(launch_package_path / "launch/warehouse_db.launch.py")
-            ),
-            condition=IfCondition(LaunchConfiguration("db")),
+        GroupAction(
+            actions=[
+                IncludeLaunchDescription(
+                    PythonLaunchDescriptionSource(
+                        str(launch_package_path / "launch/warehouse_db.launch.py")
+                    ),
+                    condition=IfCondition(LaunchConfiguration("db")),
+                ),
+                IncludeLaunchDescription(
+                    PythonLaunchDescriptionSource(
+                        str(launch_package_path / "launch/move_group.launch.py")
+                    ),
+                ),
+                # Run Rviz and load the default MoveIt configuration.
+                IncludeLaunchDescription(
+                    PythonLaunchDescriptionSource(
+                        str(launch_package_path / "launch/moveit_rviz.launch.py")
+                    ),
+                    condition=IfCondition(LaunchConfiguration("use_rviz")),
+                ),
+            ]
         )
     )
 

moveit_configs_utils/test/test_warehouse_launch.py

@@ -0,0 +1,148 @@
+from pathlib import Path
+from types import SimpleNamespace
+
+from launch import LaunchContext
+from launch.actions import (
+    DeclareLaunchArgument,
+    GroupAction,
+    IncludeLaunchDescription,
+    LogInfo,
+)
+from launch.conditions import IfCondition
+from launch_ros.actions import SetParameter
+
+from moveit_configs_utils import launches
+
+
+def _execute_parameter_actions(actions, context):
+    for action in actions:
+        if isinstance(action, (DeclareLaunchArgument, SetParameter)):
+            action.execute(context)
+
+
+def test_generate_warehouse_db_launch_uses_sqlite(monkeypatch, tmp_path):
+    node_calls = []
+    ros_home = tmp_path / "ros_home"
+    config_package_path = tmp_path / "test_moveit_config"
+    monkeypatch.setenv("ROS_HOME", str(ros_home))
+
+    def capture_node(**kwargs):
+        node_calls.append(kwargs)
+        return LogInfo(msg="captured node")
+
+    monkeypatch.setattr(launches, "Node", capture_node)
+
+    moveit_parameters = {
+        "robot_description": "<robot name='test'/>",
+        "robot_description_semantic": "<robot name='test'/>",
+    }
+    moveit_config = SimpleNamespace(
+        package_path=config_package_path,
+        to_dict=lambda: moveit_parameters,
+    )
+
+    launch_description = launches.generate_warehouse_db_launch(moveit_config)
+    actions = launch_description.entities
+
+    launch_arguments = {
+        action.name: action
+        for action in actions
+        if isinstance(action, DeclareLaunchArgument)
+    }
+    assert set(launch_arguments) == {
+        "moveit_warehouse_database_path",
+        "reset",
+    }
+
+    set_parameters = [action for action in actions if isinstance(action, SetParameter)]
+    assert len(set_parameters) == 2
+
+    context = LaunchContext()
+    _execute_parameter_actions(actions, context)
+
+    assert context.launch_configurations["moveit_warehouse_database_path"] == str(
+        ros_home / "test_moveit_config_warehouse.sqlite"
+    )
+
+    global_parameters = dict(context.launch_configurations["global_params"])
+    assert global_parameters == {
+        "warehouse_plugin": "warehouse_ros_sqlite::DatabaseConnection",
+        "warehouse_host": str(ros_home / "test_moveit_config_warehouse.sqlite"),
+    }
+
+    custom_database_path = str(tmp_path / "custom.sqlite")
+    custom_context = LaunchContext()
+    custom_context.launch_configurations["moveit_warehouse_database_path"] = (
+        custom_database_path
+    )
+    _execute_parameter_actions(actions, custom_context)
+
+    custom_parameters = dict(custom_context.launch_configurations["global_params"])
+    assert custom_parameters["warehouse_host"] == custom_database_path
+
+    # SQLite requires no separate server, so only the reset node is generated.
+    assert len(node_calls) == 1
+
+    reset_node = node_calls[0]
+    assert reset_node["package"] == "moveit_ros_warehouse"
+    assert reset_node["executable"] == "moveit_init_demo_warehouse"
+    assert reset_node["output"] == "screen"
+    assert reset_node["parameters"] == [moveit_parameters]
+    assert isinstance(reset_node["condition"], IfCondition)
+
+    context.launch_configurations["reset"] = "true"
+    assert reset_node["condition"].evaluate(context)
+
+    context.launch_configurations["reset"] = "false"
+    assert not reset_node["condition"].evaluate(context)
+
+
+def test_demo_launch_scopes_warehouse_before_consumers(tmp_path):
+    launch_directory = tmp_path / "launch"
+    launch_directory.mkdir()
+
+    launch_file_contents = """\
+from launch import LaunchDescription
+
+
+def generate_launch_description():
+    return LaunchDescription()
+"""
+
+    for filename in (
+        "rsp.launch.py",
+        "warehouse_db.launch.py",
+        "move_group.launch.py",
+        "moveit_rviz.launch.py",
+        "spawn_controllers.launch.py",
+    ):
+        (launch_directory / filename).write_text(launch_file_contents)
+
+    moveit_config = SimpleNamespace(package_path=tmp_path)
+    launch_description = launches.generate_demo_launch(moveit_config)
+
+    groups = [
+        action
+        for action in launch_description.entities
+        if isinstance(action, GroupAction)
+    ]
+    assert len(groups) == 1
+
+    includes = [
+        action
+        for action in groups[0].get_sub_entities()
+        if isinstance(action, IncludeLaunchDescription)
+    ]
+
+    context = LaunchContext()
+    include_names = []
+    for action in includes:
+        source = action.launch_description_source
+        source.get_launch_description(context)
+        include_names.append(Path(source.location).name)
+
+    assert include_names == [
+        "warehouse_db.launch.py",
+        "move_group.launch.py",
+        "moveit_rviz.launch.py",
+    ]