tesseract-robotics · Levi-Armstrong · Jun 16, 2020 · Jun 15, 2020 · Jun 15, 2020 · Jun 15, 2020
diff --git 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",

diff --git a/tesseract/tesseract/colcon.pkg b/tesseract/tesseract/colcon.pkg
@@ -0,0 +1,3 @@
+{
+    "hooks": ["share/tesseract/hook/ament_prefix_path.dsv"]
+}
diff --git 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)

diff --git a/tesseract/tesseract_collision/colcon.pkg 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -0,0 +1,3 @@
+{
+    "hooks": ["share/tesseract_viewer_python/hook/ament_prefix_path.dsv"]
+}