0.14 parity

.github/workflows/focal_build.yml

@@ -7,11 +7,12 @@ on:
   pull_request:
   schedule:
     - cron: '0 5 * * 6'
+  workflow_dispatch:
 
 jobs:
   industrial_ci:
     name: Foxy
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     env:
       CI_NAME: Focal-Build
       OS_NAME: ubuntu
@@ -21,10 +22,9 @@ jobs:
       UPSTREAM_WORKSPACE: 'dependencies.repos'
       ROSDEP_SKIP_KEYS: "catkin taskflow"
       DOCKER_IMAGE: "ros:foxy"
-      AFTER_INSTALL_UPSTREAM_DEPENDENCIES: "sh .ci-install-taskflow.sh"
       PARALLEL_TESTS: false
       NOT_TEST_BUILD: true
-      CCACHE_DIR: "/home/runner/work/tesseract_ros/tesseract_ros/Focal-Build/.ccache"
+      CCACHE_DIR: "/home/runner/work/tesseract_ros2/tesseract_ros2/Focal-Build/.ccache"
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
       TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
     steps:

.github/workflows/jammy_build.yml

@@ -0,0 +1,59 @@
+name: Jammy-Build
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * 6'
+  workflow_dispatch:
+
+jobs:
+  industrial_ci:
+    name: Humble
+    runs-on: ubuntu-22.04
+    env:
+      CI_NAME: Jammy-Build
+      OS_NAME: ubuntu
+      OS_CODE_NAME: jammy
+      ROS_DISTRO: humble
+      ROS_REPO: main
+      UPSTREAM_WORKSPACE: 'dependencies.repos'
+      ROSDEP_SKIP_KEYS: "catkin taskflow orocos_kdl"
+      DOCKER_IMAGE: "ros:humble"
+      PARALLEL_TESTS: false
+      NOT_TEST_BUILD: true
+      CCACHE_DIR: "/home/runner/work/tesseract_ros2/tesseract_ros2/Jammy-Build/.ccache"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
+    steps:
+      - uses: actions/checkout@v1
+
+      - name: Free Disk Space
+        continue-on-error: true
+        run: |
+          sudo swapoff -a
+          sudo rm -f /swapfile
+          sudo apt clean
+          docker rmi $(docker image ls -aq)
+          df -h
+
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: cmake -P {0}
+        run: |
+          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+          message("::set-output name=timestamp::${current_date}")
+
+      - name: ccache cache files
+        continue-on-error: true
+        uses: actions/[email protected]
+        with:
+          path: ${{ env.CI_NAME }}/.ccache
+          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ env.CI_NAME }}-ccache-
+
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{env}}

dependencies.repos

@@ -2,32 +2,44 @@ repositories:
   descartes_light:
     type: git
     url: https://github.com/swri-robotics/descartes_light.git
-    version: 0.3.0
+    version: fbb74eb
   fcl:
     type: git
     url: https://github.com/flexible-collision-library/fcl.git
     version: 0.6.1
   ifopt:
     type: git
     url: https://github.com/ethz-adrl/ifopt.git
-    version: master
+    version: 2.1.3
   opw_kinematics:
     type: git
     url: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: 0.4.3
+    version: 0.4.6
   ros_industrial_cmake_boilerplate:
     type: git
     url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: master
+    version: 0.3.1
+  taskflow:
+    type: git
+    url: https://github.com/taskflow/taskflow.git
+    version: v3.4.0
   tesseract:
     type: git
     url: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.7.0
+    version: 0.14.0
   tesseract_planning:
     type: git
     url: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.7.0
+    version: 0.14.0
   trajopt:
     type: git
     url: https://github.com/tesseract-robotics/trajopt.git
-    version: 0.2.0
+    version: 0.3.1
+  tesseract_qt:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_qt.git
+    version: 0.14.0
+  Qt-Advanced-Docking-System:
+    type: git
+    url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
+    version: ros

dependencies_unstable.rosinstall

@@ -1,28 +1,40 @@
+- git:
+    local-name: descartes_light
+    uri: https://github.com/swri-robotics/descartes_light.git
+    version: master
+- git:
+    local-name: fcl
+    uri: https://github.com/flexible-collision-library/fcl.git
+    version: master
+- git:
+    local-name: ifopt
+    uri: https://github.com/ethz-adrl/ifopt.git
+    version: master
+- git:
+    local-name: opw_kinematics
+    uri: https://github.com/Jmeyer1292/opw_kinematics.git
+    version: master
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
     version: master
 - git:
     local-name: tesseract
-    uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: master
-- git:
-    local-name: trajopt
-    uri: https://github.com/ros-industrial-consortium/trajopt_ros.git
+    uri: https://github.com/tesseract-robotics/tesseract.git
     version: master
 - git:
     local-name: tesseract_planning
-    uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
+    uri: https://github.com/tesseract-robotics/tesseract_planning.git
     version: master
 - git:
-    local-name: descartes_light
-    uri: https://github.com/swri-robotics/descartes_light.git
+    local-name: trajopt
+    uri: https://github.com/tesseract-robotics/trajopt.git
     version: master
 - git:
-    local-name: opw_kinematics
-    uri: https://github.com/Jmeyer1292/opw_kinematics.git
+    local-name: tesseract_qt
+    uri: https://github.com/tesseract-robotics/tesseract_qt.git
     version: master
 - git:
-    local-name: ifopt
-    uri: https://github.com/ethz-adrl/ifopt.git
-    version: master
+    local-name: Qt-Advanced-Docking-System
+    uri: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
+    version: ros

dependencies_with_ext.rosinstall

@@ -1,32 +1,40 @@
+- git:
+    local-name: descartes_light
+    uri: https://github.com/swri-robotics/descartes_light.git
+    version: 0eeeaf216677112c24d8ec51b984044e7f62c209
+- git:
+    local-name: fcl
+    uri: https://github.com/flexible-collision-library/fcl.git
+    version: 0.6.1
+- git:
+    local-name: ifopt
+    uri: https://github.com/ethz-adrl/ifopt.git
+    version: 2.1.3
+- git:
+    local-name: opw_kinematics
+    uri: https://github.com/Jmeyer1292/opw_kinematics.git
+    version: 0.4.5
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.2.12
-- git:
-    local-name: tesseract_ext
-    uri: https://github.com/ros-industrial-consortium/tesseract_ext.git
-    version: master
+    version: 0.2.15
 - git:
     local-name: tesseract
-    uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: 41cb83d03f388612412bdc0d8c0538086eb0c516
-- git:
-    local-name: trajopt
-    uri: https://github.com/ros-industrial-consortium/trajopt_ros.git
-    version: f7c5b27ac87eee0d2e692741003f37efd78ebb76
+    uri: https://github.com/tesseract-robotics/tesseract.git
+    version: 0.14.0
 - git:
     local-name: tesseract_planning
-    uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
-    version: 4c4073ae94923a52457b55f03edfeb82097632ed
+    uri: https://github.com/tesseract-robotics/tesseract_planning.git
+    version: 0.14.0
 - git:
-    local-name: descartes_light
-    uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0eeeaf216677112c24d8ec51b984044e7f62c209
+    local-name: trajopt
+    uri: https://github.com/tesseract-robotics/trajopt.git
+    version: 0.3.1
 - git:
-    local-name: opw_kinematics
-    uri: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: 0.4.3
+    local-name: tesseract_qt
+    uri: https://github.com/tesseract-robotics/tesseract_qt.git
+    version: 0c47b534b26157d9dfd5358a01afe24c978c5ed9
 - git:
-    local-name: ifopt
-    uri: https://github.com/ethz-adrl/ifopt.git
-    version: 27451ce3212d3c0ccd3a0db9a1ee9a9963466674
+    local-name: Qt-Advanced-Docking-System
+    uri: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
+    version: ros

tesseract_monitoring/CMakeLists.txt

@@ -5,26 +5,11 @@ find_package(ros_industrial_cmake_boilerplate REQUIRED)
 extract_package_metadata(pkg)
 project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
 
-# find_package(orocos_kdl REQUIRED)
-# find_package(Eigen3 REQUIRED)
-
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
+# ROS
 find_package(pluginlib REQUIRED)
-find_package(tesseract_msgs REQUIRED)
-
-# find_package(visualization_msgs REQUIRED)
-# find_package(tf2_ros REQUIRED)
-# find_package(tf2_eigen REQUIRED)
-
-find_package(tesseract_common REQUIRED)
-find_package(tesseract_environment REQUIRED)
+# tesseract_ros2
 find_package(tesseract_rosutils REQUIRED)
 
-#generate_dynamic_reconfigure_options(
-#cfg/EnvironmentMonitorDynamicReconfigure.cfg
-#)
-
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
@@ -34,34 +19,30 @@ add_library(${PROJECT_NAME}_environment SHARED
   src/current_state_monitor.cpp
 )
 target_link_libraries(${PROJECT_NAME}_environment PUBLIC
-  rclcpp::rclcpp
+  pluginlib::pluginlib
   tesseract_rosutils::tesseract_rosutils
 )
 target_compile_options(${PROJECT_NAME}_environment PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 target_clang_tidy(${PROJECT_NAME}_environment ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_environment PUBLIC VERSION 17)
+target_cxx_version(${PROJECT_NAME}_environment PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_include_directories(${PROJECT_NAME}_environment PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
-ament_target_dependencies(${PROJECT_NAME}_environment PUBLIC
-  tesseract_msgs
-  pluginlib
-)
 
-# add_executable(${PROJECT_NAME}_environment_node src/environment_monitor_node.cpp)
-# target_link_libraries(${PROJECT_NAME}_environment_node PRIVATE ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
-# target_compile_options(${PROJECT_NAME}_environment_node PRIVATE ${TESSERACT_COMPILE_OPTIONS})
-# target_clang_tidy(${PROJECT_NAME}_environment_node ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-# target_cxx_version(${PROJECT_NAME}_environment_node PRIVATE VERSION 17)
-# target_include_directories(${PROJECT_NAME}_environment_node PUBLIC
-#   " $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-#   "$<INSTALL_INTERFACE:include>")
+add_executable(${PROJECT_NAME}_environment_node src/environment_monitor_node.cpp)
+target_link_libraries(${PROJECT_NAME}_environment_node PRIVATE ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
+target_compile_options(${PROJECT_NAME}_environment_node PRIVATE ${TESSERACT_COMPILE_OPTIONS})
+target_clang_tidy(${PROJECT_NAME}_environment_node ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+target_cxx_version(${PROJECT_NAME}_environment_node PRIVATE VERSION ${TESSERACT_CXX_VERSION})
+target_include_directories(${PROJECT_NAME}_environment_node PUBLIC
+  " $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
 
 # add_library(${PROJECT_NAME}_contacts src/contact_monitor.cpp)
 # target_link_libraries(${PROJECT_NAME}_contacts PRIVATE tesseract::tesseract_environment ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
 # target_compile_options(${PROJECT_NAME}_contacts PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 # target_clang_tidy(${PROJECT_NAME}_contacts ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-# target_cxx_version(${PROJECT_NAME}_contacts PUBLIC VERSION 17)
+# target_cxx_version(${PROJECT_NAME}_contacts PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 # target_include_directories(${PROJECT_NAME}_contacts PRIVATE
 #   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
 #   "$<INSTALL_INTERFACE:include>")
@@ -71,31 +52,27 @@ ament_target_dependencies(${PROJECT_NAME}_environment PUBLIC
 # target_link_libraries(${PROJECT_NAME}_contacts_node PRIVATE tesseract::tesseract_environment ${PROJECT_NAME}_contacts ${catkin_LIBRARIES})
 # target_compile_options(${PROJECT_NAME}_contacts_node PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 # target_clang_tidy(${PROJECT_NAME}_contacts_node ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-# target_cxx_version(${PROJECT_NAME}_contacts_node PRIVATE VERSION 17)
+# target_cxx_version(${PROJECT_NAME}_contacts_node PRIVATE VERSION ${TESSERACT_CXX_VERSION})
 # target_include_directories(${PROJECT_NAME}_contacts_node PRIVATE
 #   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
 #   "$<INSTALL_INTERFACE:include>")
 
 add_library(${PROJECT_NAME}_environment_interface SHARED src/environment_monitor_interface.cpp)
 target_link_libraries(${PROJECT_NAME}_environment_interface PUBLIC
-  tesseract::tesseract_environment
   tesseract_rosutils::tesseract_rosutils
 )
 target_compile_options(${PROJECT_NAME}_environment_interface PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 target_clang_tidy(${PROJECT_NAME}_environment_interface ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_environment_interface PUBLIC VERSION 17)
+target_cxx_version(${PROJECT_NAME}_environment_interface PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_include_directories(${PROJECT_NAME}_environment_interface PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
-ament_target_dependencies(${PROJECT_NAME}_environment_interface PUBLIC
-  tesseract_msgs
-)
 
 # add_executable(demo_scene demos/demo_scene.cpp)
 # target_link_libraries(demo_scene PRIVATE ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
 # target_compile_options(demo_scene PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 # target_clang_tidy(demo_scene ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-# target_cxx_version(demo_scene PRIVATE VERSION 17)
+# target_cxx_version(demo_scene PRIVATE VERSION ${TESSERACT_CXX_VERSION})
 # target_include_directories(demo_scene PUBLIC
 #   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
 #   "$<INSTALL_INTERFACE:include>")
@@ -110,13 +87,14 @@ install(
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
 )
 
 # Mark executables for installation
 install(
   TARGETS
-  # ${PROJECT_NAME}_contacts_node
-  # ${PROJECT_NAME}_environment_node
+   # ${PROJECT_NAME}_contacts_node
+    ${PROJECT_NAME}_environment_node
   # demo_scene
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
@@ -126,17 +104,8 @@ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 ament_export_targets(${PROJECT_NAME}-targets HAS_LIBRARY_TARGET)
 ament_export_dependencies(
-  rclcpp
   pluginlib
-  tesseract_msgs
   tesseract_rosutils
-  # tf2_ros
-  # tf2_eigen
-  # visualization_msgs
-  # Eigen3
-  # orocos_kdl
-  tesseract_common
-  tesseract_environment
 )
 
 ament_package()