Changed include paths in utils to reflect the correct paths and replaced SimpleResourceLocator with TesseractSupportResourceLocator. #30
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… SimpleResourceLocator by tesseract_common::TesseractSupportResourceLocator
tesseract_rosutils/CMakeLists.txt
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| cmake_minimum_required(VERSION 3.5.0) | |||
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| set(CMAKE_EXPORT_COMPILE_COMMANDS ON) | |||
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This is not needed I believe.
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Ah this was something I left over by accident while debugging, I'll remove it :)
tesseract_rosutils/src/utils.cpp
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| ROSResourceLocator::ROSResourceLocator() : SimpleResourceLocator(::tesseract_rosutils::locateResource) {} | ||
| ROSResourceLocator::ROSResourceLocator() : tesseract_common::TesseractSupportResourceLocator() {} |
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Does this work out of the box with ROS2?
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It seeming more like it doesn't on my side. The package builds, but whenever I try to use it to initialize an environment it crashes my node.
Do you have any idea what the SimpleResourceLocator got replaced with in the Tesseract repo?
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This was removed to support serialization of the environment. There is now two available one used by testing and examples found here and there is one in tesseract_ros which could be used as an example if one does not already exist in this repository.
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I was trying to implement something like this yesterday, but I was a bit confused on how to do it. This cleared it up quite a bit, thanks for the help :)).
I have implemented the changes and it seems to build without a problem.
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Though, it fails to parse the URDF on the examples, not sure if this relates to the patch
Failure is also seen while parsing the URDF file on my own planning task
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Okay, this error occurred because the path sent to parseURDFFile still started with package:// which should have been replace by your resource loader. I would use a debugger and see if you resource locator is working as expected.
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I managed to load the environment correctly. The merged code for the locator is working as expected, there were just some problems also on my URDF side :).
tesseract_rosutils/package.xml
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| <depend>tesseract_motion_planners</depend> | |||
| <depend>tesseract_process_managers</depend> | |||
| <depend>tesseract_srdf</depend> | |||
| <depend>tesseract_command_language</depend> | |||
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Is common_language used there? Since not the serialization dependencies are from tesseract_common
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Hmmm, not sure. Can't remember if I needed this to be able to build the package, I'll try removing it and get back at you.
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I have also applied fixes to the examples provided, since it seems the methods in the response msg have been changed. From Let me know if this is the intended usage. |
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@GuiAivero if you rebase on this PR will the CI pass? If so,I will merge both. |
…nto tesseract-0.9.10-patch
Done. Fingers crossed that it passes |
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It seems that the |
Done! Also added tesseract-qt as a dependency since it was part of the ROS1 dependencies, not sure if it is meant to be included. |
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Please also remember to fix the lint errors reported in the CI as such. Briancbn@1136183. I can confirm the new CI will pass after the changes https://github.com/Briancbn/tesseract_ros2/runs/7211700850?check_suite_focus=true, the newly added qt package is also causing rosdep dependencies issue. I think should remove for now. |
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I suppose this PR can be closed now, since #35 has been merged. |
Had opened an issue since I couldn't figure out the solution for this, but by going through the backlog of releases of tesseract I managed to figure that SimpleResourceLocator has been since replaced by TesseractSupportResourceLocator.
This merge request does not cover fixes to the tests folder.