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Levi-ArmstrongLevi-Armstrong
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Enable tesseract_motion_planners build on windows
1 parent cbf71c6 commit 8bb9831

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12 files changed

+29
-18
lines changed

12 files changed

+29
-18
lines changed

‎.github/workflows/windows_noetic_build.yml

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -37,6 +37,6 @@ jobs:
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rosdep install -q --from-paths . --ignore-src -y
3939
40-
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
40+
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 tesseract_motion_planners --cmake-args -DCMAKE_BUILD_TYPE=Release
4141
call "D:\a\tesseract\tesseract\install_isolated\setup.bat"
42-
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
42+
catkin_make_isolated --install --force-cmake --pkg tesseract tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_support tesseract_urdf tesseract_visualization tesseract_motion_planners --cmake-args -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON

‎tesseract/tesseract/CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ if(WIN32)
66
endif()
77

88
find_package(Eigen3 REQUIRED)
9-
find_package(Boost COMPONENTS system REQUIRED)
9+
find_package(Boost REQUIRED COMPONENTS system REQUIRED)
1010
find_package(console_bridge REQUIRED)
1111
find_package(tesseract_scene_graph REQUIRED)
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find_package(tesseract_collision REQUIRED)

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

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@ set(@PROJECT_NAME@_LIBRARIES "@PACKAGE_LIBRARIES@")
77

88
include(CMakeFindDependencyMacro)
99
if(${CMAKE_VERSION} VERSION_LESS "3.10.0")
10-
find_package(Boost COMPONENTS system)
10+
find_package(Boost REQUIRED COMPONENTS system)
1111
else()
1212
find_dependency(Boost COMPONENTS system)
1313
endif()

‎tesseract/tesseract_collision/CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ if(WIN32)
66
endif()
77

88
find_package(Eigen3 REQUIRED)
9-
find_package(Boost COMPONENTS system thread program_options REQUIRED)
9+
find_package(Boost REQUIRED COMPONENTS system thread program_options)
1010
find_package(octomap REQUIRED)
1111
find_package(console_bridge REQUIRED)
1212
find_package(tesseract_geometry REQUIRED)

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

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib")
66

77
include(CMakeFindDependencyMacro)
88
if(${CMAKE_VERSION} VERSION_LESS "3.10.0")
9-
find_package(Boost COMPONENTS system thread program_options)
9+
find_package(Boost REQUIRED COMPONENTS system thread program_options)
1010
else()
1111
find_dependency(Boost COMPONENTS system thread program_options)
1212
endif()

‎tesseract/tesseract_common/CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ endif()
88
include(cmake/tesseract_macros.cmake)
99
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")
1010

11-
find_package(Boost COMPONENTS system filesystem program_options REQUIRED)
11+
find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
1212
find_package(Eigen3 REQUIRED)
1313
find_package(TinyXML2 REQUIRED)
1414
find_package(cmake_common_scripts REQUIRED)

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

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@ include(CMakeFindDependencyMacro)
1010
find_dependency(Eigen3)
1111
find_dependency(TinyXML2)
1212
if(${CMAKE_VERSION} VERSION_LESS "3.10.0")
13-
find_package(Boost COMPONENTS system filesystem program_options)
13+
find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
1414
else()
1515
find_dependency(Boost COMPONENTS system filesystem program_options)
1616
endif()

‎tesseract/tesseract_environment/include/tesseract_environment/core/environment.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -185,7 +185,7 @@ class Environment
185185
* @return true if successful. If returned false, then only a partial set of commands have been applied. Call
186186
* getCommandHistory to check. Some commands are not checked for success
187187
*/
188-
bool applyCommand(const std::vector<Command>& commands);
188+
bool applyCommands(const std::vector<Command>& commands);
189189

190190
/**
191191
* @brief Apply command to the environment

‎tesseract/tesseract_environment/src/core/environment.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,7 @@ bool Environment::applyCommands(const Commands& commands)
4747
return true;
4848
}
4949

50-
bool Environment::applyCommand(const std::vector<Command>& commands)
50+
bool Environment::applyCommands(const std::vector<Command>& commands)
5151
{
5252
for (const auto& command : commands)
5353
if (!applyCommand(command))

‎tesseract/tesseract_planning/tesseract_motion_planners/CMakeLists.txt

Lines changed: 12 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ if(WIN32)
55
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
66
endif()
77

8-
find_package(Boost REQUIRED)
8+
find_package(Eigen3 REQUIRED)
99
find_package(console_bridge REQUIRED)
1010
find_package(descartes_light REQUIRED)
1111
find_package(descartes_samplers REQUIRED)
@@ -16,6 +16,8 @@ find_package(tesseract_command_language REQUIRED)
1616
find_package(trajopt REQUIRED)
1717
find_package(trajopt_sco REQUIRED)
1818
find_package(cmake_common_scripts REQUIRED)
19+
# serialization was required because ompl does not include find_dependency for its required dependencies
20+
find_package(Boost REQUIRED COMPONENTS serialization system filesystem program_options)
1921

2022
if(NOT TARGET console_bridge::console_bridge)
2123
add_library(console_bridge::console_bridge INTERFACE IMPORTED)
@@ -60,7 +62,7 @@ add_library(${PROJECT_NAME}_descartes
6062
src/descartes/profile/descartes_default_plan_profile.cpp
6163
src/descartes/serialize.cpp
6264
src/descartes/deserialize.cpp)
63-
target_link_libraries(${PROJECT_NAME}_descartes PUBLIC ${PROJECT_NAME}_core descartes::descartes_light descartes::descartes_samplers)
65+
target_link_libraries(${PROJECT_NAME}_descartes PUBLIC ${PROJECT_NAME}_core descartes::descartes_light descartes::descartes_samplers ${Boost_LIBRARIES})
6466
target_compile_options(${PROJECT_NAME}_descartes PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
6567
target_compile_options(${PROJECT_NAME}_descartes PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
6668
target_compile_definitions(${PROJECT_NAME}_descartes PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -70,6 +72,8 @@ target_code_coverage(${PROJECT_NAME}_descartes ALL EXCLUDE ${COVERAGE_EXCLUDE} E
7072
target_include_directories(${PROJECT_NAME}_descartes PUBLIC
7173
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
7274
"$<INSTALL_INTERFACE:include>")
75+
target_include_directories(${PROJECT_NAME}_descartes SYSTEM PUBLIC
76+
${Boost_INCLUDE_DIRS})
7377

7478
# OMPL Freespace Planning Interface
7579
set(OMPL_SRC src/ompl/ompl_motion_planner.cpp
@@ -91,8 +95,9 @@ set(OMPL_SRC src/ompl/ompl_motion_planner.cpp
9195
# list(APPEND OMPL_SRC src/ompl/config/ompl_planner_constrained_config.cpp)
9296
#endif()
9397

98+
message(AUTHOR_WARNING "OMPL INCLUDE DIRS: ${OMPL_INCLUDE_DIRS}")
9499
add_library(${PROJECT_NAME}_ompl ${OMPL_SRC})
95-
target_link_libraries(${PROJECT_NAME}_ompl PUBLIC ${PROJECT_NAME}_core ${OMPL_LIBRARIES})
100+
target_link_libraries(${PROJECT_NAME}_ompl PUBLIC ${PROJECT_NAME}_core ${OMPL_LIBRARIES} ${Boost_LIBRARIES})
96101
target_compile_options(${PROJECT_NAME}_ompl PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
97102
target_compile_options(${PROJECT_NAME}_ompl PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
98103
target_compile_definitions(${PROJECT_NAME}_ompl PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -103,7 +108,8 @@ target_include_directories(${PROJECT_NAME}_ompl PUBLIC
103108
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
104109
"$<INSTALL_INTERFACE:include>")
105110
target_include_directories(${PROJECT_NAME}_ompl SYSTEM PUBLIC
106-
${OMPL_INCLUDE_DIRS})
111+
${OMPL_INCLUDE_DIRS}
112+
${Boost_INCLUDE_DIRS})
107113
if(OMPL_VERSION VERSION_LESS "1.4.0")
108114
target_compile_definitions(${PROJECT_NAME}_ompl PUBLIC OMPL_LESS_1_4_0=ON)
109115
endif()
@@ -152,8 +158,8 @@ target_include_directories(${PROJECT_NAME}_trajopt PUBLIC
152158
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
153159
"$<INSTALL_INTERFACE:include>")
154160
target_include_directories(${PROJECT_NAME}_trajopt SYSTEM PUBLIC
155-
${EIGEN3_INCLUDE_DIRS}
156-
${Boost_INCLUDE_DIRS})
161+
${EIGEN3_INCLUDE_DIRS}
162+
${Boost_INCLUDE_DIRS})
157163

158164
configure_package(NAMESPACE tesseract
159165
TARGETS ${PROJECT_NAME}_core

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