Merge pull request #39 from nmarticorena/main

feat: add some moveit packages

Author: Tobias-Fischer

patch/ros-jazzy-moveit-py.osx.patch

@@ -0,0 +1,12 @@
+diff --git a/src/moveit/moveit_py_utils/CMakeLists.txt b/src/moveit/moveit_py_utils/CMakeLists.txt
+index 132da7425..5e6564626 100644
+--- a/src/moveit/moveit_py_utils/CMakeLists.txt
++++ b/src/moveit/moveit_py_utils/CMakeLists.txt
+@@ -8,6 +8,7 @@ set_target_properties(moveit_py_utils PROPERTIES VERSION
+ 
+ ament_target_dependencies(moveit_py_utils rclcpp moveit_msgs geometry_msgs
+                           pybind11)
++target_link_libraries(moveit_py_utils Python3::Module)
+ 
+ install(
+   TARGETS moveit_py_utils

patch/ros-jazzy-moveit-ros-perception.osx.patch

@@ -0,0 +1,66 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0452e0485..38b72376a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -17,8 +17,10 @@ if(WITH_OPENGL)
+ 
+   set(GL_LIBS ${GL_LIBS} ${OPENGL_LIBRARIES})
+   if(APPLE)
+-    find_package(FreeGLUT REQUIRED)
+-    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut)
++    list(INSERT CMAKE_FRAMEWORK_PATH 0 /System/Library/Frameworks)
++    find_package(GLUT REQUIRED)
++    # find_package(FreeGLUT REQUIRED)
++    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW GLUT::GLUT)
+   else()
+     find_package(GLUT REQUIRED)
+     if(WIN32)
+diff --git a/mesh_filter/src/gl_renderer.cpp b/mesh_filter/src/gl_renderer.cpp
+index e528cb5b5..9d1689cf6 100644
+--- a/mesh_filter/src/gl_renderer.cpp
++++ b/mesh_filter/src/gl_renderer.cpp
+@@ -37,11 +37,13 @@
+ #include <GL/glew.h>
+ #ifdef __APPLE__
+ #include <OpenGL/glu.h>
++#include <OpenGL/gl.h>
++#include <GLUT/glut.h>
+ #else
+ #include <GL/glu.h>
+ #include <GL/glut.h>
+-#endif
+ #include <GL/freeglut.h>
++#endif
+ #include <moveit/mesh_filter/gl_renderer.hpp>
+ #include <moveit/utils/logger.hpp>
+ #include <sstream>
+@@ -405,8 +407,13 @@ void mesh_filter::GLRenderer::createGLContext()
+     glutIconifyWindow();
+     glutHideWindow();
+ 
+-    for (int i = 0; i < 10; ++i)
+-      glutMainLoopEvent();
++    for (int i = 0; i < 10; ++i){
++      #ifdef __APPLE__
++        glutCheckLoop();
++      #else
++        glutMainLoopEvent();
++      #endif
++    }
+ 
+     s_context.at(thread_id) = std::pair<unsigned, GLuint>(1, window_id);
+   }
+diff --git a/semantic_world/CMakeLists.txt b/semantic_world/CMakeLists.txt
+index dc8d941da..0baff31eb 100644
+--- a/semantic_world/CMakeLists.txt
++++ b/semantic_world/CMakeLists.txt
+@@ -13,6 +13,8 @@ ament_target_dependencies(
+   moveit_msgs
+   tf2_eigen
+   Eigen3
+-  Boost)
++  Boost
++  OpenCV)
++  
+ 
+ install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)

vinca_linux_64.yaml

@@ -48,6 +48,9 @@ packages_select_by_deps:
   - desktop_full
 
   - moveit
+  - moveit-py
+  - moveit-ros-perception
+  - moveit-ros-occupancy-map-monitor
   - moveit-planners-chomp
   - moveit-servo
   - moveit-visual-tools

vinca_linux_aarch64.yaml

@@ -48,6 +48,9 @@ packages_select_by_deps:
   - desktop_full
 
   - moveit
+  - moveit-py
+  - moveit-ros-perception
+  - moveit-ros-occupancy-map-monitor
   - moveit-planners-chomp
   - moveit-servo
   - moveit-visual-tools

vinca_osx.yaml

@@ -56,6 +56,9 @@ packages_select_by_deps:
   - desktop_full
 
   - moveit
+  - moveit-py
+  - moveit-ros-perception
+  - moveit-ros-occupancy-map-monitor
   - moveit-planners-chomp
   - moveit-servo
   - moveit-visual-tools

vinca_osx_arm64.yaml

@@ -57,6 +57,9 @@ packages_select_by_deps:
   - desktop_full
 
   - moveit
+  - moveit-py
+  - moveit-ros-perception
+  - moveit-ros-occupancy-map-monitor
   - moveit-planners-chomp
   - moveit-servo
   - moveit-visual-tools

vinca_win.yaml

@@ -56,6 +56,9 @@ packages_select_by_deps:
   - desktop_full
 
   - moveit
+  # - moveit-py
+  # - moveit-ros-perception
+  # - moveit-ros-occupancy-map-monitor
   - moveit-planners-chomp
   - moveit-servo
   - moveit-visual-tools