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Update ompl_interface with latest version of OMPL #2994

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Update ompl_interface with latest version of OMPL #2994

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862b605
Update ompl_interface with latest version of OMPL
MarqRazz Sep 9, 2024
6b1f3a8
specify PUBLIC
MarqRazz Sep 9, 2024
7be46d4
pre-commit
MarqRazz Sep 9, 2024
46cec89
only link ompl where required
MarqRazz Sep 10, 2024
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4 changes: 4 additions & 0 deletions moveit2.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -12,3 +12,7 @@ repositories:
type: git
url: https://github.com/moveit/moveit_resources.git
version: ros2
ompl:
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Should we wait till the new ompl version is released?

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I guess the ompl crew would be willing to release although they still have at least one unresolved regression lying around.

But I'm not sure it's so difficult to support both ompl cmake interfaces here for now. We do that in MoveIt.

type: git
url: https://github.com/ompl/ompl.git
version: main
2 changes: 1 addition & 1 deletion moveit_planners/ompl/CMakeLists.txt
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Expand Up @@ -27,7 +27,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
endif()

include_directories(ompl_interface/include)
include_directories(SYSTEM ${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS})
include_directories(SYSTEM ${Boost_INCLUDE_DIRS})

add_subdirectory(ompl_interface)

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40 changes: 22 additions & 18 deletions moveit_planners/ompl/ompl_interface/CMakeLists.txt
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Expand Up @@ -31,24 +31,25 @@ endif()

ament_target_dependencies(
moveit_ompl_interface
PUBLIC
moveit_core
moveit_msgs
moveit_ros_planning
rclcpp
pluginlib
tf2_eigen
tf2_ros
OMPL
Boost)
set_target_properties(
moveit_ompl_interface PROPERTIES COMPILE_FLAGS
"${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set_target_properties(moveit_ompl_interface PROPERTIES LINK_FLAGS
"${OpenMP_CXX_FLAGS}")

target_link_libraries(moveit_ompl_interface PUBLIC ompl::ompl)
add_executable(moveit_generate_state_database
scripts/generate_state_database.cpp)
target_link_libraries(moveit_generate_state_database moveit_ompl_interface)
target_link_libraries(moveit_generate_state_database moveit_ompl_interface
ompl::ompl)
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set_target_properties(moveit_generate_state_database
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
set_target_properties(moveit_generate_state_database
Expand All @@ -64,9 +65,9 @@ ament_target_dependencies(
rclcpp
pluginlib
tf2_ros
OMPL
Boost)
target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface)
target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface
ompl::ompl)

install(TARGETS moveit_generate_state_database
RUNTIME DESTINATION lib/${PROJECT_NAME})
Expand All @@ -77,24 +78,26 @@ if(BUILD_TESTING)
find_package(Eigen3 REQUIRED)

ament_add_gtest(test_state_space test/test_state_space.cpp)
ament_target_dependencies(test_state_space moveit_core OMPL Boost Eigen3)
target_link_libraries(test_state_space moveit_ompl_interface)
ament_target_dependencies(test_state_space moveit_core Boost Eigen3)
target_link_libraries(test_state_space moveit_ompl_interface ompl::ompl)
set_target_properties(test_state_space PROPERTIES LINK_FLAGS
"${OpenMP_CXX_FLAGS}")

ament_add_gtest(test_state_validity_checker
test/test_state_validity_checker.cpp)
ament_target_dependencies(test_state_validity_checker moveit_core OMPL Boost
ament_target_dependencies(test_state_validity_checker moveit_core Boost
Eigen3)
target_link_libraries(test_state_validity_checker moveit_ompl_interface)
target_link_libraries(test_state_validity_checker moveit_ompl_interface
ompl::ompl)
set_target_properties(test_state_validity_checker
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")

ament_add_gtest(test_planning_context_manager
test/test_planning_context_manager.cpp)
ament_target_dependencies(test_planning_context_manager moveit_core tf2_eigen
OMPL Boost Eigen3)
target_link_libraries(test_planning_context_manager moveit_ompl_interface)
Boost Eigen3)
target_link_libraries(test_planning_context_manager moveit_ompl_interface
ompl::ompl)

# Disabling flaky test TODO (vatanaksoytezer): Uncomment once this is fixed
# ament_add_gtest(test_ompl_constraints test/test_ompl_constraints.cpp)
Expand All @@ -104,26 +107,27 @@ if(BUILD_TESTING)
ament_add_gtest(test_constrained_planning_state_space
test/test_constrained_planning_state_space.cpp)
ament_target_dependencies(test_constrained_planning_state_space moveit_core
OMPL Boost Eigen3)
Boost Eigen3)
target_link_libraries(test_constrained_planning_state_space
moveit_ompl_interface)
moveit_ompl_interface ompl::ompl)
set_target_properties(test_constrained_planning_state_space
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")

ament_add_gtest(test_constrained_state_validity_checker
test/test_constrained_state_validity_checker.cpp)
ament_target_dependencies(test_constrained_state_validity_checker moveit_core
OMPL Boost Eigen3)
Boost Eigen3)
target_link_libraries(test_constrained_state_validity_checker
moveit_ompl_interface)
moveit_ompl_interface ompl::ompl)
set_target_properties(test_constrained_state_validity_checker
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")

ament_add_gtest(test_threadsafe_state_storage
test/test_threadsafe_state_storage.cpp)
ament_target_dependencies(test_threadsafe_state_storage moveit_core OMPL
Boost Eigen3)
target_link_libraries(test_threadsafe_state_storage moveit_ompl_interface)
ament_target_dependencies(test_threadsafe_state_storage moveit_core Boost
Eigen3)
target_link_libraries(test_threadsafe_state_storage moveit_ompl_interface
ompl::ompl)
set_target_properties(test_threadsafe_state_storage
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")

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