From d3ebaa37fa9d06ca60017d9bc6dc213518cc1fc9 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Mon, 2 Oct 2023 09:21:21 -0500
Subject: [PATCH 1/2] Update composite instruction user data to align with
 gazebo user data variant

---
 .../composite_instruction.h                         | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/tesseract_command_language/include/tesseract_command_language/composite_instruction.h b/tesseract_command_language/include/tesseract_command_language/composite_instruction.h
index 268a98d4a4..859d20beb0 100644
--- a/tesseract_command_language/include/tesseract_command_language/composite_instruction.h
+++ b/tesseract_command_language/include/tesseract_command_language/composite_instruction.h
@@ -71,8 +71,17 @@ class CompositeInstruction
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   // LCOV_EXCL_STOP
 
-  /** User Data */
-  using UserDataVariant = std::variant<double, long, std::size_t, std::string, tesseract_common::AnyPoly>;
+  /**
+   * @brief Alias for a variant that can hold various types of data.
+   * @details The first type of the variant is std::monostate in order to prevent
+   * default-constructed variants from holding a type (a default-constructed
+   * variant is returned when a user calls CompositeInstruction::UserData with a key that
+   * doesn't exist for the CompositeInstruction. In this case, since the key doesn't
+   * exist, the variant that is returned shouldn't hold any types - an
+   * "empty variant" should be returned for keys that don't exist)
+   */
+  using UserDataVariant =
+      std::variant<std::monostate, int, long, float, double, std::string, bool, std::size_t, tesseract_common::AnyPoly>;
   using UserData = std::unordered_map<std::string, UserDataVariant>;
 
   /** value_type */

From 9194edcaf0a64e48e721051bc71242584f9105bb Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Mon, 2 Oct 2023 12:40:45 -0500
Subject: [PATCH 2/2] Fix CI ubuntu.yml

---
 .github/workflows/ubuntu.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index e3ea36ea19..39f68fb783 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -23,7 +23,7 @@ jobs:
       REGISTRY: ghcr.io
       IMAGE_NAME: ${{ github.repository }}
       PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
-      TESSERACT_VERSION: 0.20
+      TESSERACT_VERSION: '0.20'
     steps:
       - name: Checkout repository
         uses: actions/checkout@v1