Roelof Oomen

I found another TrajOptIfopt-related issue: tesseract_planning still has [adaptive rho switched off](https://github.com/tesseract-robotics/tesseract_planning/blob/master/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp#L106), whereas some time ago the default was supposedly changed to true for [TrajOpt](https://github.com/tesseract-robotics/trajopt/blob/master/trajopt_sco/src/osqp_interface.cpp#L30) and [TrajOptIfopt](https://github.com/tesseract-robotics/trajopt/blob/master/trajopt_optimizers/trajopt_sqp/src/osqp_eigen_solver.cpp#L43). I have a...

Discrete collision check setting

3

Shouldn't `is_continuous` be false [here](https://github.com/tesseract-robotics/trajopt/blob/master/trajopt_ifopt/src/constraints/collision/continuous_collision_evaluators.cpp#L351), as it is the `LVSDiscreteCollisionEvaluator`?

ros_industrial_cmake_boilerplate as system dependency?

3

Question: Why is `ros_industrial_cmake_boilerplate` a source dependency in `dependencies.rosinstall`, and why is 0.3.0 used? I compiled it with ros_industrial_cmake_boilerplate as a system dependency (using `ros-humble-ros-industrial-cmake-boilerplate` 0.4.0) and that seems to...

Fixes for building on Ubuntu Noble

3

Pending a rebase after #1006 and #1015 have been merged.

Can TesseractCompoundCollisionAlgorithm and TesseractCompoundCompoundCollisionAlgorithm be removed?

3

I noticed TesseractCompoundCollisionAlgorithm misses [some old bugfixes](https://github.com/bulletphysics/bullet3/commits/master/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp) from `btCompoundCollisionAlgorithm`. I could easily add those to Tesseract, but I noticed that both TesseractCompoundCollisionAlgorithm and TesseractCompoundCompoundCollisionAlgorithm say they could be removed ([here](https://github.com/tesseract-robotics/tesseract/blob/master/tesseract_collision/bullet/include/tesseract_collision/bullet/tesseract_compound_collision_algorithm.h#L48)...

Update the clang-tidy CI to a newer version or OS (Noble) or to a more strict config and fix all warnings (see for reference https://github.com/tesseract-robotics/trajopt/pull/411, https://github.com/tesseract-robotics/trajopt/pull/412, and https://github.com/tesseract-robotics/trajopt/pull/414).

Enum cast out of range

1

Clang-tidy did find one more thing: ``` /home/user/tesseract_ws/src/trajopt/trajopt/include/trajopt/problem_description.hpp:39:10: warning: The value '7' provided to the cast expression is not in the valid range of values for 'TermType' [clang-analyzer-optin.core.EnumCastOutOfRange] 39 |...