moveit: Add packages from MoveIt! project
Particularly this commit brings in * moveit_core; * moveit_ros_perception; * moveit_ros_planning; * moveit_msgs and their build dependencies like * object_recognition_msgs; * srdfdom. Also they are included into packagegroup-ros-world.bb. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
This commit is contained in:
Dmitry Rozhkov
parent
0d2af46a09
commit
9909e48046
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@ -0,0 +1,9 @@
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# Usually ROS packages include libraries without so-names. But some packages insist
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# on setting so-names to indicate ABI breakages between different versions of the
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# same library in the same ROS distro. E.g. see
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# https://github.com/ros-planning/moveit/commit/0a7a895bb2ae9e171efa101f354826366fa5eaff
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INSANE_SKIP_${PN} += "dev-so"
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FILES_${PN} += "\
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${ros_libdir}/lib*.so.* \
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"
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@ -0,0 +1,16 @@
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DESCRIPTION = "Messages, services and actions used by MoveIt"
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SECTION = "devel"
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LICENSE = "BSD"
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LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
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DEPENDS = "message-generation std-msgs trajectory-msgs geometry-msgs sensor-msgs actionlib-msgs octomap-msgs object-recognition-msgs"
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SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
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SRC_URI[md5sum] = "60f559b7501006c2e021271ceef771b0"
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SRC_URI[sha256sum] = "170b74b99c54fcf0334df2c4b0ecef84007d3bc0be7f9c530e69edf391320b4c"
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S = "${WORKDIR}/${ROS_SP}"
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inherit catkin
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ROS_SPN = "moveit_msgs"
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@ -0,0 +1,9 @@
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SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
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SRC_URI[md5sum] = "fadd453134bb64559b989d2b3f02ca28"
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SRC_URI[sha256sum] = "d14103ddf4545f42acaabfcdda36eeff9a293e07269d339eeb7ac4ab6dd3c522"
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S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
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inherit catkin ros-insane
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ROS_SPN = "moveit"
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@ -0,0 +1,8 @@
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DESCRIPTION = "Core libraries used by MoveIt!"
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SECTION = "devel"
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LICENSE = "BSD"
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LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
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DEPENDS = "roslib boost eigen-conversions fcl octomap eigen-stl-containers geometric-shapes kdl-parser moveit-msgs srdfdom cmake-modules"
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require moveit-${PV}.inc
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@ -0,0 +1,106 @@
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From f86d6ca6c56d90e983a8074d4a8d6ac22cdee8cf Mon Sep 17 00:00:00 2001
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From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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Date: Tue, 24 Jan 2017 17:27:28 +0200
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Subject: [PATCH 1/2] moveit_ros_perception: make OpenGL parts optional
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But build everything by default.
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Upstream-Status: Inappropriate [WONTFIX for stable indigo-devel branch]
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Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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---
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CMakeLists.txt | 35 ++++++++++++++++++++---------------
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1 file changed, 20 insertions(+), 15 deletions(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index e984b17..fd91cc6 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -1,6 +1,8 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(moveit_ros_perception)
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+option(BUILD_OPENGL "Build the parts that depends on OpenGL" ON)
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+
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if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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@@ -9,12 +11,16 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake")
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find_package(Boost REQUIRED thread signals)
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-find_package(OpenGL REQUIRED)
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-find_package(GLEW REQUIRED)
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-find_package(GLUT REQUIRED)
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-if (OPENGL_FOUND)
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- set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
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-endif(OPENGL_FOUND)
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+if (BUILD_OPENGL)
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+ find_package(OpenGL REQUIRED)
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+ find_package(GLEW REQUIRED)
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+ find_package(GLUT REQUIRED)
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+ if (OPENGL_FOUND)
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+ set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
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+ endif(OPENGL_FOUND)
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+ set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
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+ set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
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+endif(BUILD_OPENGL)
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find_package(catkin REQUIRED COMPONENTS
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moveit_core
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@@ -39,13 +45,12 @@ find_package(OpenCV)
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catkin_package(
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INCLUDE_DIRS
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- mesh_filter/include
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lazy_free_space_updater/include
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- depth_image_octomap_updater/include
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point_containment_filter/include
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occupancy_map_monitor/include
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pointcloud_octomap_updater/include
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semantic_world/include
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+ ${perception_GL_INCLUDE_DIRS}
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${OCTOMAP_INCLUDE_DIRS}
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LIBRARIES
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moveit_lazy_free_space_updater
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@@ -59,21 +64,19 @@ catkin_package(
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image_transport
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moveit_msgs)
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-include_directories(mesh_filter/include
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- lazy_free_space_updater/include
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- depth_image_octomap_updater/include
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+include_directories(lazy_free_space_updater/include
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point_containment_filter/include
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occupancy_map_monitor/include
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pointcloud_octomap_updater/include
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semantic_world/include
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+ ${perception_GL_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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include_directories(SYSTEM
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${EIGEN_INCLUDE_DIRS}
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- ${GLEW_INCLUDE_DIR}
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- ${GLUT_INCLUDE_DIR}
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+ ${SYSTEM_GL_INCLUDE_DIR}
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)
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link_directories(${Boost_LIBRARY_DIRS})
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@@ -83,8 +86,10 @@ add_subdirectory(lazy_free_space_updater)
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add_subdirectory(point_containment_filter)
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add_subdirectory(occupancy_map_monitor)
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add_subdirectory(pointcloud_octomap_updater)
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-add_subdirectory(mesh_filter)
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-add_subdirectory(depth_image_octomap_updater)
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+if (BUILD_OPENGL)
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+ add_subdirectory(mesh_filter)
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+ add_subdirectory(depth_image_octomap_updater)
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+endif(BUILD_OPENGL)
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add_subdirectory(semantic_world)
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--
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2.7.4
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From c46a8ed481810a647d505139731dfa3fb1c8d657 Mon Sep 17 00:00:00 2001
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From: Dave Coleman <dave@dav.ee>
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Date: Wed, 20 Jul 2016 08:42:23 -0600
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Subject: [PATCH 2/2] Add C++11 support for moveit_ros_perception and
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moveit_ros_robot_interaction (#721)
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Upstream-Status: Backported [kinetic-devel]
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---
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CMakeLists.txt | 2 ++
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pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp | 2 +-
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2 files changed, 3 insertions(+), 1 deletion(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index fd91cc6..ea040f2 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -3,6 +3,8 @@ project(moveit_ros_perception)
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option(BUILD_OPENGL "Build the parts that depends on OpenGL" ON)
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+add_compile_options(-std=c++11)
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+
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if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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diff --git a/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
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index db0b1c2..22be20a 100644
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--- a/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
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+++ b/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
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@@ -251,7 +251,7 @@ void PointCloudOctomapUpdater::cloudMsgCallback(const sensor_msgs::PointCloud2::
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// continue;
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/* check for NaN */
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- if (!isnan(pt_iter[0]) && !isnan(pt_iter[1]) && !isnan(pt_iter[2]))
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+ if (!std::isnan(pt_iter[0]) && !std::isnan(pt_iter[1]) && !std::isnan(pt_iter[2]))
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{
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/* transform to map frame */
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tf::Vector3 point_tf = map_H_sensor * tf::Vector3(pt_iter[0], pt_iter[1], pt_iter[2]);
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--
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2.7.4
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DESCRIPTION = "Components of MoveIt connecting to perception"
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SECTION = "devel"
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LICENSE = "BSD"
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LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
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DEPENDS = "moveit-core tf-conversions image-transport cv-bridge"
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require moveit-${PV}.inc
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ROS_BPN = "moveit_ros/perception"
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SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz \
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file://0001-moveit_ros_perception-make-OpenGL-parts-optional.patch \
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file://0002-Add-C-11-support-for-moveit_ros_perception-and-movei.patch \
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"
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EXTRA_OECMAKE_append = " -DBUILD_OPENGL=OFF"
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@ -0,0 +1,49 @@
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From 6734257c8d611e7561372be93e31ea5c4887c7e2 Mon Sep 17 00:00:00 2001
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From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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Date: Wed, 25 Jan 2017 11:02:22 +0200
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Subject: [PATCH 1/2] address gcc6 build error
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With gcc6, compiling fails with `stdlib.h: No such file or directory`,
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as including '-isystem /usr/include' breaks with gcc6, cf.,
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https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
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This commit addresses this issue for this package in almost the same way
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it was addressed in various other ROS packages. A list of related
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commits and pull requests is at:
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https://github.com/ros/rosdistro/issues/12783
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Particularly when searching for the Boost library CMake sets
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Boost_INCLUDE_DIRS to @SYSROOT@/usr/include which should be
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avoided in the `-isystem` option of gcc.
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Upstream-Status: Accepted
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Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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---
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CMakeLists.txt | 7 ++++---
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1 file changed, 4 insertions(+), 3 deletions(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 2f41991..4829da0 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -62,11 +62,12 @@ catkin_package(
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include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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- )
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+ ${Boost_INCLUDE_DIRS}
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+)
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include_directories(SYSTEM
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${EIGEN_INCLUDE_DIRS}
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- ${Boost_INCLUDE_DIRS}
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- )
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+)
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+
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link_directories(${Boost_LIBRARY_DIRS})
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link_directories(${catkin_LIBRARY_DIRS})
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--
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2.7.4
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@ -0,0 +1,15 @@
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DESCRIPTION = "Planning components of MoveIt that use ROS"
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SECTION = "devel"
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LICENSE = "BSD"
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LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
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DEPENDS = "moveit-core moveit-ros-perception dynamic-reconfigure python-rospkg libtinyxml"
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require moveit-${PV}.inc
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ROS_BPN = "moveit_ros/planning"
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SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz \
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file://0001-address-gcc6-build-error.patch \
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"
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FILES_${PN} += "${ros_libdir}/moveit_ros_planning/*"
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@ -0,0 +1,16 @@
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DESCRIPTION = "Object_recognition_msgs contains the ROS message and the actionlib definition used in object_recognition_core"
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SECTION = "devel"
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LICENSE = "BSD"
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LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
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SRC_URI = "https://github.com/wg-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
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SRC_URI[md5sum] = "c79731da116912ae8b1366aa705345ab"
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SRC_URI[sha256sum] = "b7689a079ad78a4358946fa5a38de0c9a5c12e46381d22106f053ac5cde357f1"
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S = "${WORKDIR}/${ROS_SP}"
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inherit catkin
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ROS_SPN = "object_recognition_msgs"
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DEPENDS = "message-generation std-msgs geometry-msgs sensor-msgs actionlib-msgs shape-msgs"
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@ -172,6 +172,7 @@ RDEPENDS_${PN} = "\
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rosbridge-server \
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rosbridge-suite \
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ar-track-alvar \
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moveit-ros-planning \
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"
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# collada-parser and collada-urdf require collada-dom, which does not compile with gcc6.
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@ -0,0 +1,46 @@
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From 5571eaff800b8be87add3436507659b5e166ab9c Mon Sep 17 00:00:00 2001
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From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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Date: Fri, 20 Jan 2017 11:29:58 +0200
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Subject: [PATCH] address gcc6 build error
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With gcc6, compiling fails with `stdlib.h: No such file or directory`,
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as including '-isystem /usr/include' breaks with gcc6, cf.,
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https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
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This commit addresses this issue for this package in the same way
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it was addressed in various other ROS packages. A list of related
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commits and pull requests is at:
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https://github.com/ros/rosdistro/issues/12783
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Upstream-Status: Backported [from kinetic-devel]
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Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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---
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CMakeLists.txt | 3 +--
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1 file changed, 1 insertion(+), 2 deletions(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index a28ecea..545934b 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
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project(srdfdom)
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find_package(Boost REQUIRED)
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-include_directories(SYSTEM ${Boost_INCLUDE_DIR})
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find_package(console_bridge REQUIRED)
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find_package(urdfdom_headers REQUIRED)
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@@ -11,7 +10,7 @@ find_package(catkin REQUIRED COMPONENTS cmake_modules urdfdom_py)
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find_package(TinyXML REQUIRED)
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-include_directories(include ${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${console_bridge_INCLUDE_DIRS} ${urdfdom_headers_INCLUDE_DIRS})
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+include_directories(include ${Boost_INCLUDE_DIR} ${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${console_bridge_INCLUDE_DIRS} ${urdfdom_headers_INCLUDE_DIRS})
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link_directories(${catkin_LIBRARY_DIRS})
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catkin_python_setup()
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--
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2.7.4
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@ -0,0 +1,18 @@
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DESCRIPTION = "Parser for Semantic Robot Description Format"
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SECTION = "devel"
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LICENSE = "BSD"
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LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
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DEPENDS = "cmake-modules boost urdf urdfdom-py console-bridge libtinyxml urdfdom-headers"
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SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz \
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file://0001-address-gcc6-build-error.patch \
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"
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SRC_URI[md5sum] = "1b35fc7d120a8dbf41ede3c03c88ca5e"
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SRC_URI[sha256sum] = "9018c7c4da88e406e5059f0e2013049dfa4c04980f42a311c1201748ba5ba1de"
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S = "${WORKDIR}/${ROS_SP}"
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inherit catkin
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ROS_SPN = "srdfdom"
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