From fb6eb8c7875a800c655d77205a8f8c3c3fabdb22 Mon Sep 17 00:00:00 2001 From: Matthew Powelson Date: Mon, 15 Jun 2020 14:00:57 -0500 Subject: [PATCH 1/3] Add colcon.pkg files to all packages Addresses issue #302 as discussed on rosdep issue 724. --- tesseract/tesseract/colcon.pkg | 3 +++ tesseract/tesseract_collision/colcon.pkg | 3 +++ tesseract/tesseract_common/cmake/tesseract_macros.cmake | 6 ++++++ tesseract/tesseract_common/colcon.pkg | 3 +++ tesseract/tesseract_environment/colcon.pkg | 3 +++ tesseract/tesseract_geometry/colcon.pkg | 3 +++ tesseract/tesseract_kinematics/colcon.pkg | 3 +++ .../tesseract_planning/tesseract_motion_planners/colcon.pkg | 3 +++ .../tesseract_process_planners/colcon.pkg | 3 +++ tesseract/tesseract_scene_graph/colcon.pkg | 3 +++ tesseract/tesseract_support/colcon.pkg | 3 +++ tesseract/tesseract_urdf/colcon.pkg | 3 +++ tesseract/tesseract_visualization/colcon.pkg | 3 +++ tesseract_python/tesseract_python/colcon.pkg | 3 +++ tesseract_python/tesseract_viewer_python/colcon.pkg | 3 +++ 15 files changed, 48 insertions(+) create mode 100644 tesseract/tesseract/colcon.pkg create mode 100644 tesseract/tesseract_collision/colcon.pkg create mode 100644 tesseract/tesseract_common/colcon.pkg create mode 100644 tesseract/tesseract_environment/colcon.pkg create mode 100644 tesseract/tesseract_geometry/colcon.pkg create mode 100644 tesseract/tesseract_kinematics/colcon.pkg create mode 100644 tesseract/tesseract_planning/tesseract_motion_planners/colcon.pkg create mode 100644 tesseract/tesseract_planning/tesseract_process_planners/colcon.pkg create mode 100644 tesseract/tesseract_scene_graph/colcon.pkg create mode 100644 tesseract/tesseract_support/colcon.pkg create mode 100644 tesseract/tesseract_urdf/colcon.pkg create mode 100644 tesseract/tesseract_visualization/colcon.pkg create mode 100644 tesseract_python/tesseract_python/colcon.pkg create mode 100644 tesseract_python/tesseract_viewer_python/colcon.pkg diff --git a/tesseract/tesseract/colcon.pkg b/tesseract/tesseract/colcon.pkg new file mode 100644 index 00000000000..aa262e5911c --- /dev/null +++ b/tesseract/tesseract/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_collision/colcon.pkg b/tesseract/tesseract_collision/colcon.pkg new file mode 100644 index 00000000000..2e6018ba681 --- /dev/null +++ b/tesseract/tesseract_collision/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_collision/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_common/cmake/tesseract_macros.cmake b/tesseract/tesseract_common/cmake/tesseract_macros.cmake index 7f9f444606a..c9880dce53d 100644 --- a/tesseract/tesseract_common/cmake/tesseract_macros.cmake +++ b/tesseract/tesseract_common/cmake/tesseract_macros.cmake @@ -143,6 +143,12 @@ macro(tesseract_configure_package) DESTINATION lib/cmake/${PROJECT_NAME}) export(EXPORT ${PROJECT_NAME}-targets NAMESPACE tesseract:: FILE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake) + + # Allows Colcon to find non-Ament packages when using workspace underlays + file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "") + install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages) + file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv "prepend-non-duplicate;AMENT_PREFIX_PATH;") + install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv DESTINATION share/${PROJECT_NAME}/hook) endmacro() # This macro call the appropriate gtest function to add a test based on the cmake version diff --git a/tesseract/tesseract_common/colcon.pkg b/tesseract/tesseract_common/colcon.pkg new file mode 100644 index 00000000000..7591649a2a0 --- /dev/null +++ b/tesseract/tesseract_common/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_common/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_environment/colcon.pkg b/tesseract/tesseract_environment/colcon.pkg new file mode 100644 index 00000000000..e3a2eb7d822 --- /dev/null +++ b/tesseract/tesseract_environment/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_environment/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_geometry/colcon.pkg b/tesseract/tesseract_geometry/colcon.pkg new file mode 100644 index 00000000000..6757b14d074 --- /dev/null +++ b/tesseract/tesseract_geometry/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_geometry/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_kinematics/colcon.pkg b/tesseract/tesseract_kinematics/colcon.pkg new file mode 100644 index 00000000000..9af15bffdd1 --- /dev/null +++ b/tesseract/tesseract_kinematics/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_kinematics/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_planning/tesseract_motion_planners/colcon.pkg b/tesseract/tesseract_planning/tesseract_motion_planners/colcon.pkg new file mode 100644 index 00000000000..ef710f92e17 --- /dev/null +++ b/tesseract/tesseract_planning/tesseract_motion_planners/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_motion_planners/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_planning/tesseract_process_planners/colcon.pkg b/tesseract/tesseract_planning/tesseract_process_planners/colcon.pkg new file mode 100644 index 00000000000..734f8df88a6 --- /dev/null +++ b/tesseract/tesseract_planning/tesseract_process_planners/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_process_planners/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_scene_graph/colcon.pkg b/tesseract/tesseract_scene_graph/colcon.pkg new file mode 100644 index 00000000000..e7c43b219d0 --- /dev/null +++ b/tesseract/tesseract_scene_graph/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_scene_graph/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_support/colcon.pkg b/tesseract/tesseract_support/colcon.pkg new file mode 100644 index 00000000000..638db069c4f --- /dev/null +++ b/tesseract/tesseract_support/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_support/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_urdf/colcon.pkg b/tesseract/tesseract_urdf/colcon.pkg new file mode 100644 index 00000000000..8d00ff1dfaa --- /dev/null +++ b/tesseract/tesseract_urdf/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_urdf/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract/tesseract_visualization/colcon.pkg b/tesseract/tesseract_visualization/colcon.pkg new file mode 100644 index 00000000000..2a3ddd99732 --- /dev/null +++ b/tesseract/tesseract_visualization/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_visualization/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract_python/tesseract_python/colcon.pkg b/tesseract_python/tesseract_python/colcon.pkg new file mode 100644 index 00000000000..fe2a808f461 --- /dev/null +++ b/tesseract_python/tesseract_python/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_python/hook/ament_prefix_path.dsv"] +} diff --git a/tesseract_python/tesseract_viewer_python/colcon.pkg b/tesseract_python/tesseract_viewer_python/colcon.pkg new file mode 100644 index 00000000000..864555cef55 --- /dev/null +++ b/tesseract_python/tesseract_viewer_python/colcon.pkg @@ -0,0 +1,3 @@ +{ + "hooks": ["share/tesseract_viewer_python/hook/ament_prefix_path.dsv"] +} From 96d548977bc20e2b578df1a865dd3d608fa36f1e Mon Sep 17 00:00:00 2001 From: Matthew Powelson Date: Mon, 15 Jun 2020 15:21:03 -0500 Subject: [PATCH 2/3] tesseract_collision: Remove pluginlib workaround This is now handled in the tesseract_configure_package macro --- tesseract/tesseract_collision/CMakeLists.txt | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/tesseract/tesseract_collision/CMakeLists.txt b/tesseract/tesseract_collision/CMakeLists.txt index 4c0ef3809c0..b71f342cd83 100644 --- a/tesseract/tesseract_collision/CMakeLists.txt +++ b/tesseract/tesseract_collision/CMakeLists.txt @@ -133,12 +133,7 @@ install(DIRECTORY include/${PROJECT_NAME} PATTERN ".svn" EXCLUDE ) -# Create an ament_index resource file to allow ROS2 ament_index_cpp to locate the installed path to this package. -# This is a workaround to let the ROS2 version of pluginlib find tesseract_collision's plugins, since tesseract_collision is a non-ROS CMake package. -# ADDITIONAL REQUIREMENT: The installed path must be added to the AMENT_PREFIX_PATH environment variable at runtime, which is outside the scope of CMakeLists.txt. -file(WRITE ${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages/${PROJECT_NAME} "") - -# ADD Examples +# Add Examples add_subdirectory(examples) if (TESSERACT_ENABLE_TESTING) From 53955dcbc3bc553238e116c1ad6cacd8bf62b245 Mon Sep 17 00:00:00 2001 From: Matthew Powelson Date: Mon, 15 Jun 2020 16:40:04 -0500 Subject: [PATCH 3/3] Add benchmark to the xenial nightly build skip keys --- .github/workflows/nightly.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml index ea294d2908b..543aae1e13b 100644 --- a/.github/workflows/nightly.yml +++ b/.github/workflows/nightly.yml @@ -38,7 +38,7 @@ jobs: UPSTREAM_WORKSPACE: 'github:swri-robotics/descartes_light#master github:Jmeyer1292/opw_kinematics#master github:ethz-adrl/ifopt#master', DOWNSTREAM_WORKSPACE: 'github:ros-industrial-consortium/tesseract_ros#master', TARGET_WORKSPACE: '. github:ros-industrial-consortium/trajopt_ros#master', - ROSDEP_SKIP_KEYS: "bullet3 fcl", + ROSDEP_SKIP_KEYS: "bullet3 fcl benchmark", DOCKER_IMAGE: "lharmstrong/tesseract:kinetic", CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Xenial-Build-Nightly/.ccache", UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",