Fix to handle console_bridge target renaming in noetic

Author: Levi-Armstrong

.github/workflows/windows_noetic_build.yml

@@ -29,19 +29,14 @@ jobs:
         call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64
         call "C:\opt\ros\%ROS_DISTRO%\x64\setup.bat"
 
-        choco install console_bridge -y --no-progress
-        choco install clapack -y --no-progress
-        choco install openblas -y --no-progress
-
-        set PATH=D:\a\tesseract\tesseract\install_isolated\bin;C:\opt\rosdeps\x64\bin;C:\opt\rosdeps\x64\lib;%PATH%
-        set LD_LIBRARY_PATH=D:\a\tesseract\tesseract\install_isolated\lib;C:\opt\rosdeps\x64\lib;%LD_LIBRARY_PATH%
-        set CMAKE_PREFIX_PATH=D:\a\tesseract\tesseract\install_isolated\CMake;C:\opt\rosdeps\x64;%CMAKE_PREFIX_PATH%
-        set PKG_CONFIG_PATH=D:\a\tesseract\tesseract\install_isolated\lib\pkgconfig;C:\opt\rosdeps\x64\lib\pkgconfig;%PKG_CONFIG_PATH%
-
         set
 
+        rosdep update
+
         vcs import --input "${{ github.workspace }}/src/tesseract/dependencies.rosinstall" src/
 
+        rosdep install -q --from-paths . --ignore-src -y
+
         catkin_make_isolated --install --force-cmake --only-pkg-with-deps tesseract tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_support tesseract_urdf tesseract_visualization --cmake-args -DCMAKE_BUILD_TYPE=Release
         call "D:\a\tesseract\tesseract\install_isolated\setup.bat"
         catkin_make_isolated --install --force-cmake --pkg tesseract tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_urdf tesseract_visualization --cmake-args -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON

tesseract/tesseract/CMakeLists.txt

@@ -17,6 +17,12 @@ find_package(tesseract_urdf REQUIRED)
 find_package(tesseract_command_language REQUIRED)
 find_package(cmake_common_scripts REQUIRED)
 
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${console_bridge_INCLUDE_DIRS}")
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES "${console_bridge_LIBRARIES}")
+endif()
+
 set(COVERAGE_EXCLUDE /usr/* /opt/* ${CMAKE_CURRENT_LIST_DIR}/test/* /*/gtest/*)
 
 add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
@@ -35,7 +41,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   tesseract::tesseract_kinematics_kdl
   tesseract::tesseract_kinematics_opw
   tesseract::tesseract_command_language
-  console_bridge)
+  console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME} PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})

tesseract/tesseract/cmake/tesseract-config.cmake.in

@@ -21,4 +21,10 @@ find_dependency(tesseract_urdf)
 find_dependency(console_bridge)
 find_dependency(tesseract_command_language)
 
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${console_bridge_INCLUDE_DIRS}")
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES "${console_bridge_LIBRARIES}")
+endif()
+
 include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")

tesseract/tesseract_collision/CMakeLists.txt

@@ -22,6 +22,11 @@ link_directories(BEFORE ${FCL_LIBRARY_DIRS})
 include_directories(BEFORE "${BULLET_ROOT_DIR}/${BULLET_INCLUDE_DIRS}")
 link_directories(BEFORE "${BULLET_ROOT_DIR}/${BULLET_LIBRARY_DIRS}")
 
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${console_bridge_INCLUDE_DIRS}")
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES "${console_bridge_LIBRARIES}")
+endif()
 
 # These targets are necessary for 16.04 builds. Remove when Kinetic support is dropped
 if(NOT TARGET octomap)
@@ -71,7 +76,7 @@ add_library(${PROJECT_NAME}_bullet
   src/bullet/tesseract_convex_convex_algorithm.cpp
   src/bullet/tesseract_gjk_pair_detector.cpp
 )
-target_link_libraries(${PROJECT_NAME}_bullet PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry console_bridge octomap octomath)
+target_link_libraries(${PROJECT_NAME}_bullet PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry console_bridge::console_bridge octomap octomath)
 target_link_libraries(${PROJECT_NAME}_bullet PUBLIC ${BULLET_LIBRARIES})
 target_compile_options(${PROJECT_NAME}_bullet PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_bullet PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
@@ -92,7 +97,7 @@ add_library(${PROJECT_NAME}_fcl
   src/fcl/fcl_discrete_managers.cpp
   src/fcl/fcl_utils.cpp
   src/fcl/fcl_collision_object_wrapper.cpp)
-target_link_libraries(${PROJECT_NAME}_fcl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry fcl ${BULLET_LIBRARIES} console_bridge octomap octomath)
+target_link_libraries(${PROJECT_NAME}_fcl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry fcl ${BULLET_LIBRARIES} console_bridge::console_bridge octomap octomath)
 target_compile_options(${PROJECT_NAME}_fcl PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_fcl PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_fcl PUBLIC ${TESSERACT_COMPILE_DEFINITIONS} ${BULLET_DEFINITIONS})
@@ -139,7 +144,7 @@ set(PACKAGE_LIBRARIES ${PROJECT_NAME}_core ${PROJECT_NAME}_bullet ${PROJECT_NAME
 if (NOT MSVC)
   # Create target for creating convex hull's from meshes
   add_executable(create_convex_hull src/create_convex_hull.cpp)
-  target_link_libraries(create_convex_hull PUBLIC ${PROJECT_NAME}_core ${BULLET_LIBRARIES} tesseract::tesseract_common tesseract::tesseract_geometry ${Boost_LIBRARIES} console_bridge octomap octomath)
+  target_link_libraries(create_convex_hull PUBLIC ${PROJECT_NAME}_core ${BULLET_LIBRARIES} tesseract::tesseract_common tesseract::tesseract_geometry ${Boost_LIBRARIES} console_bridge::console_bridge octomap octomath)
   target_compile_options(create_convex_hull PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
   target_compile_definitions(create_convex_hull PRIVATE ${TESSERACT_COMPILE_DEFINITIONS} ${BULLET_DEFINITIONS})
   target_clang_tidy(create_convex_hull ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})

tesseract/tesseract_collision/cmake/tesseract_collision-config.cmake.in

@@ -27,6 +27,12 @@ link_directories(BEFORE ${FCL_LIBRARY_DIRS})
 include_directories(BEFORE "${BULLET_ROOT_DIR}/${BULLET_INCLUDE_DIRS}")
 link_directories(BEFORE "${BULLET_ROOT_DIR}/${BULLET_LIBRARY_DIRS}")
 
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${console_bridge_INCLUDE_DIRS}")
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES "${console_bridge_LIBRARIES}")
+endif()
+
 # These targets are necessary for 16.04 builds. Remove when Kinetic support is dropped
 if(NOT TARGET octomap)
   add_library(octomap INTERFACE IMPORTED)

tesseract/tesseract_collision/examples/CMakeLists.txt

@@ -1,5 +1,5 @@
 add_executable(${PROJECT_NAME}_box_box_example box_box_example.cpp)
-target_link_libraries(${PROJECT_NAME}_box_box_example ${PROJECT_NAME}_bullet ${PROJECT_NAME}_fcl tesseract::tesseract_geometry console_bridge ${BULLET_LIBRARIES} ${Boost_LIBRARIES} octomap octomath ${LIBFCL_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}_box_box_example ${PROJECT_NAME}_bullet ${PROJECT_NAME}_fcl tesseract::tesseract_geometry console_bridge::console_bridge ${BULLET_LIBRARIES} ${Boost_LIBRARIES} octomap octomath ${LIBFCL_LIBRARIES})
 target_compile_options(${PROJECT_NAME}_box_box_example PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_clang_tidy(${PROJECT_NAME}_box_box_example ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_box_box_example PRIVATE VERSION ${TESSERACT_CXX_VERSION})

tesseract/tesseract_collision/test/CMakeLists.txt

@@ -41,7 +41,7 @@ include(GoogleTest)
 
 macro(add_gtest test_name test_file)
   add_executable(${test_name} ${test_file})
-  target_link_libraries(${test_name} PRIVATE GTest::GTest GTest::Main ${PROJECT_NAME}_test_suite ${PROJECT_NAME}_bullet ${PROJECT_NAME}_fcl tesseract::tesseract_geometry tesseract::tesseract_scene_graph console_bridge ${Boost_LIBRARIES} octomap octomath ${LIBFCL_LIBRARIES})
+  target_link_libraries(${test_name} PRIVATE GTest::GTest GTest::Main ${PROJECT_NAME}_test_suite ${PROJECT_NAME}_bullet ${PROJECT_NAME}_fcl tesseract::tesseract_geometry tesseract::tesseract_scene_graph console_bridge::console_bridge ${Boost_LIBRARIES} octomap octomath ${LIBFCL_LIBRARIES})
   target_compile_options(${test_name} PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
   target_compile_definitions(${test_name} PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
   target_clang_tidy(${test_name} ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})

tesseract/tesseract_environment/CMakeLists.txt

@@ -14,6 +14,12 @@ find_package(tesseract_scene_graph REQUIRED)
 find_package(tesseract_common REQUIRED)
 find_package(cmake_common_scripts REQUIRED)
 
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${console_bridge_INCLUDE_DIRS}")
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES "${console_bridge_LIBRARIES}")
+endif()
+
 set(COVERAGE_EXCLUDE /usr/* /opt/* ${CMAKE_CURRENT_LIST_DIR}/test/* /*/gtest/* /*/bullet/LinearMath/* /*/bullet/BulletCollision/*)
 
 add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
@@ -37,7 +43,7 @@ target_include_directories(${PROJECT_NAME}_core SYSTEM PUBLIC
     ${EIGEN3_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME}_kdl src/kdl/kdl_state_solver.cpp)
-target_link_libraries(${PROJECT_NAME}_kdl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph orocos-kdl console_bridge)
+target_link_libraries(${PROJECT_NAME}_kdl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph orocos-kdl console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME}_kdl PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_kdl PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_kdl PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -52,7 +58,7 @@ target_include_directories(${PROJECT_NAME}_kdl SYSTEM PUBLIC
     ${orocos_kdl_INCLUDE_DIRS}) # Orocos did not export target correctly
 
 add_library(${PROJECT_NAME}_ofkt src/ofkt/ofkt_state_solver.cpp src/ofkt/ofkt_nodes.cpp)
-target_link_libraries(${PROJECT_NAME}_ofkt PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph console_bridge)
+target_link_libraries(${PROJECT_NAME}_ofkt PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME}_ofkt PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_ofkt PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_ofkt PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})

tesseract/tesseract_environment/cmake/tesseract_environment-config.cmake.in

@@ -12,4 +12,10 @@ find_dependency(tesseract_collision)
 find_dependency(tesseract_scene_graph)
 find_dependency(tesseract_common)
 
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${console_bridge_INCLUDE_DIRS}")
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES "${console_bridge_LIBRARIES}")
+endif()
+
 include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")

tesseract/tesseract_geometry/CMakeLists.txt

@@ -15,6 +15,12 @@ find_package(cmake_common_scripts REQUIRED)
 find_package(assimp REQUIRED)
 link_directories(${assimp_LIBRARY_DIRS})
 
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${console_bridge_INCLUDE_DIRS}")
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES "${console_bridge_LIBRARIES}")
+endif()
+
 # These targets are necessary for 16.04 builds. Remove when Kinetic support is dropped
 if(NOT TARGET octomap)
   add_library(octomap INTERFACE IMPORTED)
@@ -35,7 +41,7 @@ add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 tesseract_variables()
 
 add_library(${PROJECT_NAME} INTERFACE)
-target_link_libraries(${PROJECT_NAME} INTERFACE tesseract::tesseract_common console_bridge octomap octomath ${assimp_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} INTERFACE tesseract::tesseract_common console_bridge::console_bridge octomap octomath ${assimp_LIBRARIES})
 target_compile_options(${PROJECT_NAME} INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} INTERFACE ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME} ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})