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Merge pull request #35 from marrts/0.14-parity
0.14 parity
2 parents 4745fb8 + 868d444 commit b16609c

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‎.github/workflows/focal_build.yml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -7,11 +7,12 @@ on:
77
pull_request:
88
schedule:
99
- cron: '0 5 * * 6'
10+
workflow_dispatch:
1011

1112
jobs:
1213
industrial_ci:
1314
name: Foxy
14-
runs-on: ubuntu-latest
15+
runs-on: ubuntu-20.04
1516
env:
1617
CI_NAME: Focal-Build
1718
OS_NAME: ubuntu
@@ -21,10 +22,9 @@ jobs:
2122
UPSTREAM_WORKSPACE: 'dependencies.repos'
2223
ROSDEP_SKIP_KEYS: "catkin taskflow"
2324
DOCKER_IMAGE: "ros:foxy"
24-
AFTER_INSTALL_UPSTREAM_DEPENDENCIES: "sh .ci-install-taskflow.sh"
2525
PARALLEL_TESTS: false
2626
NOT_TEST_BUILD: true
27-
CCACHE_DIR: "/home/runner/work/tesseract_ros/tesseract_ros/Focal-Build/.ccache"
27+
CCACHE_DIR: "/home/runner/work/tesseract_ros2/tesseract_ros2/Focal-Build/.ccache"
2828
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
2929
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
3030
steps:

‎.github/workflows/jammy_build.yml‎

Lines changed: 59 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,59 @@
1+
name: Jammy-Build
2+
3+
on:
4+
push:
5+
branches:
6+
- master
7+
pull_request:
8+
schedule:
9+
- cron: '0 5 * * 6'
10+
workflow_dispatch:
11+
12+
jobs:
13+
industrial_ci:
14+
name: Humble
15+
runs-on: ubuntu-22.04
16+
env:
17+
CI_NAME: Jammy-Build
18+
OS_NAME: ubuntu
19+
OS_CODE_NAME: jammy
20+
ROS_DISTRO: humble
21+
ROS_REPO: main
22+
UPSTREAM_WORKSPACE: 'dependencies.repos'
23+
ROSDEP_SKIP_KEYS: "catkin taskflow orocos_kdl"
24+
DOCKER_IMAGE: "ros:humble"
25+
PARALLEL_TESTS: false
26+
NOT_TEST_BUILD: true
27+
CCACHE_DIR: "/home/runner/work/tesseract_ros2/tesseract_ros2/Jammy-Build/.ccache"
28+
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
29+
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
30+
steps:
31+
- uses: actions/checkout@v1
32+
33+
- name: Free Disk Space
34+
continue-on-error: true
35+
run: |
36+
sudo swapoff -a
37+
sudo rm -f /swapfile
38+
sudo apt clean
39+
docker rmi $(docker image ls -aq)
40+
df -h
41+
42+
- name: Prepare ccache timestamp
43+
id: ccache_cache_timestamp
44+
shell: cmake -P {0}
45+
run: |
46+
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
47+
message("::set-output name=timestamp::${current_date}")
48+
49+
- name: ccache cache files
50+
continue-on-error: true
51+
uses: actions/[email protected]
52+
with:
53+
path: ${{ env.CI_NAME }}/.ccache
54+
key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
55+
restore-keys: |
56+
${{ env.CI_NAME }}-ccache-
57+
58+
- uses: 'ros-industrial/industrial_ci@master'
59+
env: ${{env}}

‎dependencies.repos‎

Lines changed: 19 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -2,32 +2,44 @@ repositories:
22
descartes_light:
33
type: git
44
url: https://github.com/swri-robotics/descartes_light.git
5-
version: 0.3.0
5+
version: fbb74eb
66
fcl:
77
type: git
88
url: https://github.com/flexible-collision-library/fcl.git
99
version: 0.6.1
1010
ifopt:
1111
type: git
1212
url: https://github.com/ethz-adrl/ifopt.git
13-
version: master
13+
version: 2.1.3
1414
opw_kinematics:
1515
type: git
1616
url: https://github.com/Jmeyer1292/opw_kinematics.git
17-
version: 0.4.3
17+
version: 0.4.6
1818
ros_industrial_cmake_boilerplate:
1919
type: git
2020
url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
21-
version: master
21+
version: 0.3.1
22+
taskflow:
23+
type: git
24+
url: https://github.com/taskflow/taskflow.git
25+
version: v3.4.0
2226
tesseract:
2327
type: git
2428
url: https://github.com/tesseract-robotics/tesseract.git
25-
version: 0.7.0
29+
version: 0.14.0
2630
tesseract_planning:
2731
type: git
2832
url: https://github.com/tesseract-robotics/tesseract_planning.git
29-
version: 0.7.0
33+
version: 0.14.0
3034
trajopt:
3135
type: git
3236
url: https://github.com/tesseract-robotics/trajopt.git
33-
version: 0.2.0
37+
version: 0.3.1
38+
tesseract_qt:
39+
type: git
40+
url: https://github.com/tesseract-robotics/tesseract_qt.git
41+
version: 0.14.0
42+
Qt-Advanced-Docking-System:
43+
type: git
44+
url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
45+
version: ros

‎dependencies_unstable.rosinstall‎

Lines changed: 25 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,28 +1,40 @@
1+
- git:
2+
local-name: descartes_light
3+
uri: https://github.com/swri-robotics/descartes_light.git
4+
version: master
5+
- git:
6+
local-name: fcl
7+
uri: https://github.com/flexible-collision-library/fcl.git
8+
version: master
9+
- git:
10+
local-name: ifopt
11+
uri: https://github.com/ethz-adrl/ifopt.git
12+
version: master
13+
- git:
14+
local-name: opw_kinematics
15+
uri: https://github.com/Jmeyer1292/opw_kinematics.git
16+
version: master
117
- git:
218
local-name: ros_industrial_cmake_boilerplate
319
uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
420
version: master
521
- git:
622
local-name: tesseract
7-
uri: https://github.com/ros-industrial-consortium/tesseract.git
8-
version: master
9-
- git:
10-
local-name: trajopt
11-
uri: https://github.com/ros-industrial-consortium/trajopt_ros.git
23+
uri: https://github.com/tesseract-robotics/tesseract.git
1224
version: master
1325
- git:
1426
local-name: tesseract_planning
15-
uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
27+
uri: https://github.com/tesseract-robotics/tesseract_planning.git
1628
version: master
1729
- git:
18-
local-name: descartes_light
19-
uri: https://github.com/swri-robotics/descartes_light.git
30+
local-name: trajopt
31+
uri: https://github.com/tesseract-robotics/trajopt.git
2032
version: master
2133
- git:
22-
local-name: opw_kinematics
23-
uri: https://github.com/Jmeyer1292/opw_kinematics.git
34+
local-name: tesseract_qt
35+
uri: https://github.com/tesseract-robotics/tesseract_qt.git
2436
version: master
2537
- git:
26-
local-name: ifopt
27-
uri: https://github.com/ethz-adrl/ifopt.git
28-
version: master
38+
local-name: Qt-Advanced-Docking-System
39+
uri: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
40+
version: ros

‎dependencies_with_ext.rosinstall‎

Lines changed: 30 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -1,32 +1,40 @@
1+
- git:
2+
local-name: descartes_light
3+
uri: https://github.com/swri-robotics/descartes_light.git
4+
version: 0eeeaf216677112c24d8ec51b984044e7f62c209
5+
- git:
6+
local-name: fcl
7+
uri: https://github.com/flexible-collision-library/fcl.git
8+
version: 0.6.1
9+
- git:
10+
local-name: ifopt
11+
uri: https://github.com/ethz-adrl/ifopt.git
12+
version: 2.1.3
13+
- git:
14+
local-name: opw_kinematics
15+
uri: https://github.com/Jmeyer1292/opw_kinematics.git
16+
version: 0.4.5
117
- git:
218
local-name: ros_industrial_cmake_boilerplate
319
uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
4-
version: 0.2.12
5-
- git:
6-
local-name: tesseract_ext
7-
uri: https://github.com/ros-industrial-consortium/tesseract_ext.git
8-
version: master
20+
version: 0.2.15
921
- git:
1022
local-name: tesseract
11-
uri: https://github.com/ros-industrial-consortium/tesseract.git
12-
version: 41cb83d03f388612412bdc0d8c0538086eb0c516
13-
- git:
14-
local-name: trajopt
15-
uri: https://github.com/ros-industrial-consortium/trajopt_ros.git
16-
version: f7c5b27ac87eee0d2e692741003f37efd78ebb76
23+
uri: https://github.com/tesseract-robotics/tesseract.git
24+
version: 0.14.0
1725
- git:
1826
local-name: tesseract_planning
19-
uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
20-
version: 4c4073ae94923a52457b55f03edfeb82097632ed
27+
uri: https://github.com/tesseract-robotics/tesseract_planning.git
28+
version: 0.14.0
2129
- git:
22-
local-name: descartes_light
23-
uri: https://github.com/swri-robotics/descartes_light.git
24-
version: 0eeeaf216677112c24d8ec51b984044e7f62c209
30+
local-name: trajopt
31+
uri: https://github.com/tesseract-robotics/trajopt.git
32+
version: 0.3.1
2533
- git:
26-
local-name: opw_kinematics
27-
uri: https://github.com/Jmeyer1292/opw_kinematics.git
28-
version: 0.4.3
34+
local-name: tesseract_qt
35+
uri: https://github.com/tesseract-robotics/tesseract_qt.git
36+
version: 0c47b534b26157d9dfd5358a01afe24c978c5ed9
2937
- git:
30-
local-name: ifopt
31-
uri: https://github.com/ethz-adrl/ifopt.git
32-
version: 27451ce3212d3c0ccd3a0db9a1ee9a9963466674
38+
local-name: Qt-Advanced-Docking-System
39+
uri: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
40+
version: ros

‎tesseract_monitoring/CMakeLists.txt‎

Lines changed: 19 additions & 50 deletions
Original file line numberDiff line numberDiff line change
@@ -5,26 +5,11 @@ find_package(ros_industrial_cmake_boilerplate REQUIRED)
55
extract_package_metadata(pkg)
66
project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
77

8-
# find_package(orocos_kdl REQUIRED)
9-
# find_package(Eigen3 REQUIRED)
10-
11-
find_package(ament_cmake REQUIRED)
12-
find_package(rclcpp REQUIRED)
8+
# ROS
139
find_package(pluginlib REQUIRED)
14-
find_package(tesseract_msgs REQUIRED)
15-
16-
# find_package(visualization_msgs REQUIRED)
17-
# find_package(tf2_ros REQUIRED)
18-
# find_package(tf2_eigen REQUIRED)
19-
20-
find_package(tesseract_common REQUIRED)
21-
find_package(tesseract_environment REQUIRED)
10+
# tesseract_ros2
2211
find_package(tesseract_rosutils REQUIRED)
2312

24-
#generate_dynamic_reconfigure_options(
25-
#cfg/EnvironmentMonitorDynamicReconfigure.cfg
26-
#)
27-
2813
# Load variable for clang tidy args, compiler options and cxx version
2914
tesseract_variables()
3015

@@ -34,34 +19,30 @@ add_library(${PROJECT_NAME}_environment SHARED
3419
src/current_state_monitor.cpp
3520
)
3621
target_link_libraries(${PROJECT_NAME}_environment PUBLIC
37-
rclcpp::rclcpp
22+
pluginlib::pluginlib
3823
tesseract_rosutils::tesseract_rosutils
3924
)
4025
target_compile_options(${PROJECT_NAME}_environment PRIVATE ${TESSERACT_COMPILE_OPTIONS})
4126
target_clang_tidy(${PROJECT_NAME}_environment ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
42-
target_cxx_version(${PROJECT_NAME}_environment PUBLIC VERSION 17)
27+
target_cxx_version(${PROJECT_NAME}_environment PUBLIC VERSION ${TESSERACT_CXX_VERSION})
4328
target_include_directories(${PROJECT_NAME}_environment PUBLIC
4429
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
4530
"$<INSTALL_INTERFACE:include>")
46-
ament_target_dependencies(${PROJECT_NAME}_environment PUBLIC
47-
tesseract_msgs
48-
pluginlib
49-
)
5031

51-
# add_executable(${PROJECT_NAME}_environment_node src/environment_monitor_node.cpp)
52-
# target_link_libraries(${PROJECT_NAME}_environment_node PRIVATE ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
53-
# target_compile_options(${PROJECT_NAME}_environment_node PRIVATE ${TESSERACT_COMPILE_OPTIONS})
54-
# target_clang_tidy(${PROJECT_NAME}_environment_node ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
55-
# target_cxx_version(${PROJECT_NAME}_environment_node PRIVATE VERSION 17)
56-
# target_include_directories(${PROJECT_NAME}_environment_node PUBLIC
57-
# " $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
58-
# "$<INSTALL_INTERFACE:include>")
32+
add_executable(${PROJECT_NAME}_environment_node src/environment_monitor_node.cpp)
33+
target_link_libraries(${PROJECT_NAME}_environment_node PRIVATE ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
34+
target_compile_options(${PROJECT_NAME}_environment_node PRIVATE ${TESSERACT_COMPILE_OPTIONS})
35+
target_clang_tidy(${PROJECT_NAME}_environment_node ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
36+
target_cxx_version(${PROJECT_NAME}_environment_node PRIVATE VERSION ${TESSERACT_CXX_VERSION})
37+
target_include_directories(${PROJECT_NAME}_environment_node PUBLIC
38+
" $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
39+
"$<INSTALL_INTERFACE:include>")
5940

6041
# add_library(${PROJECT_NAME}_contacts src/contact_monitor.cpp)
6142
# target_link_libraries(${PROJECT_NAME}_contacts PRIVATE tesseract::tesseract_environment ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
6243
# target_compile_options(${PROJECT_NAME}_contacts PRIVATE ${TESSERACT_COMPILE_OPTIONS})
6344
# target_clang_tidy(${PROJECT_NAME}_contacts ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
64-
# target_cxx_version(${PROJECT_NAME}_contacts PUBLIC VERSION 17)
45+
# target_cxx_version(${PROJECT_NAME}_contacts PUBLIC VERSION ${TESSERACT_CXX_VERSION})
6546
# target_include_directories(${PROJECT_NAME}_contacts PRIVATE
6647
# "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
6748
# "$<INSTALL_INTERFACE:include>")
@@ -71,31 +52,27 @@ ament_target_dependencies(${PROJECT_NAME}_environment PUBLIC
7152
# target_link_libraries(${PROJECT_NAME}_contacts_node PRIVATE tesseract::tesseract_environment ${PROJECT_NAME}_contacts ${catkin_LIBRARIES})
7253
# target_compile_options(${PROJECT_NAME}_contacts_node PRIVATE ${TESSERACT_COMPILE_OPTIONS})
7354
# target_clang_tidy(${PROJECT_NAME}_contacts_node ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
74-
# target_cxx_version(${PROJECT_NAME}_contacts_node PRIVATE VERSION 17)
55+
# target_cxx_version(${PROJECT_NAME}_contacts_node PRIVATE VERSION ${TESSERACT_CXX_VERSION})
7556
# target_include_directories(${PROJECT_NAME}_contacts_node PRIVATE
7657
# "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
7758
# "$<INSTALL_INTERFACE:include>")
7859

7960
add_library(${PROJECT_NAME}_environment_interface SHARED src/environment_monitor_interface.cpp)
8061
target_link_libraries(${PROJECT_NAME}_environment_interface PUBLIC
81-
tesseract::tesseract_environment
8262
tesseract_rosutils::tesseract_rosutils
8363
)
8464
target_compile_options(${PROJECT_NAME}_environment_interface PRIVATE ${TESSERACT_COMPILE_OPTIONS})
8565
target_clang_tidy(${PROJECT_NAME}_environment_interface ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
86-
target_cxx_version(${PROJECT_NAME}_environment_interface PUBLIC VERSION 17)
66+
target_cxx_version(${PROJECT_NAME}_environment_interface PUBLIC VERSION ${TESSERACT_CXX_VERSION})
8767
target_include_directories(${PROJECT_NAME}_environment_interface PUBLIC
8868
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
8969
"$<INSTALL_INTERFACE:include>")
90-
ament_target_dependencies(${PROJECT_NAME}_environment_interface PUBLIC
91-
tesseract_msgs
92-
)
9370

9471
# add_executable(demo_scene demos/demo_scene.cpp)
9572
# target_link_libraries(demo_scene PRIVATE ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
9673
# target_compile_options(demo_scene PRIVATE ${TESSERACT_COMPILE_OPTIONS})
9774
# target_clang_tidy(demo_scene ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
98-
# target_cxx_version(demo_scene PRIVATE VERSION 17)
75+
# target_cxx_version(demo_scene PRIVATE VERSION ${TESSERACT_CXX_VERSION})
9976
# target_include_directories(demo_scene PUBLIC
10077
# "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
10178
# "$<INSTALL_INTERFACE:include>")
@@ -110,13 +87,14 @@ install(
11087
ARCHIVE DESTINATION lib
11188
LIBRARY DESTINATION lib
11289
RUNTIME DESTINATION bin
90+
INCLUDES DESTINATION include
11391
)
11492

11593
# Mark executables for installation
11694
install(
11795
TARGETS
118-
# ${PROJECT_NAME}_contacts_node
119-
# ${PROJECT_NAME}_environment_node
96+
# ${PROJECT_NAME}_contacts_node
97+
${PROJECT_NAME}_environment_node
12098
# demo_scene
12199
RUNTIME DESTINATION lib/${PROJECT_NAME}
122100
)
@@ -126,17 +104,8 @@ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
126104

127105
ament_export_targets(${PROJECT_NAME}-targets HAS_LIBRARY_TARGET)
128106
ament_export_dependencies(
129-
rclcpp
130107
pluginlib
131-
tesseract_msgs
132108
tesseract_rosutils
133-
# tf2_ros
134-
# tf2_eigen
135-
# visualization_msgs
136-
# Eigen3
137-
# orocos_kdl
138-
tesseract_common
139-
tesseract_environment
140109
)
141110

142111
ament_package()

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