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Merge pull request #514 from rojkov/moveit-recipes 

add more MoveIt recipes and their dependencies
This commit is contained in:
Lukas Bulwahn 2017-05-29 12:14:03 +02:00 committed by GitHub
parent 420df74f4c 6c6b5dcc13
commit e463a59e80
12 changed files with 214 additions and 1 deletions
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40
recipes-extended/ompl/ompl/0001-address-gcc6-build-error.patch Normal file
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@ -0,0 +1,40 @@
From 3658bb95c120228cac55cd10e4103ababf30474b Mon Sep 17 00:00:00 2001
From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
Date: Tue, 23 May 2017 10:01:06 +0300
Subject: [PATCH 1/2] address gcc6 build error
With gcc6, compiling fails with `stdlib.h: No such file or directory`,
as including '-isystem /usr/include' breaks with gcc6, cf.,
https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
This commit addresses this issue for this package in almost the same way
it was addressed in various other ROS packages. A list of related
commits and pull requests is at:
https://github.com/ros/rosdistro/issues/12783
Particularly when searching for the Boost library CMake sets
Boost_INCLUDE_DIRS to @SYSROOT@/usr/include which should be
avoided in the `-isystem` option of gcc.
Upstream-Status: Submitted [https://github.com/ompl/ompl/pull/101]
---
CMakeLists.txt | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 46ae14d..be53fac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -74,7 +74,7 @@ else()
# don't use chrono
find_package(Boost COMPONENTS date_time thread serialization filesystem system program_options unit_test_framework REQUIRED)
endif()
-include_directories(SYSTEM ${Boost_INCLUDE_DIR})
+include_directories(${Boost_INCLUDE_DIR})
if(${Boost_VERSION} LESS 105300)
# Include bundled version of boost::odeint if it isn't installed natively
--
2.9.3

46
recipes-extended/ompl/ompl/0002-Add-option-to-skip-setting-RPATH.patch Normal file
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From 99bfeffe5e80f3b48f82bfff336aca3e97bc19b7 Mon Sep 17 00:00:00 2001
From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
Date: Tue, 23 May 2017 10:24:37 +0300
Subject: [PATCH 2/2] Add option to skip setting RPATH
OMPL installs to /usr/lib by default and some projects integrating
OMPL trigger a QA check suggesting that the set RPATH is useless.
For example Yocto gives this warning:
QA Issue: ompl: /work/corei7-64-refkit-linux/ompl/1.1.0-r0/packages-split/ompl/usr/lib/libompl.so.1.1.0 contains probably-redundant RPATH /usr/lib [useless-rpaths]
Add the option OMPL_SKIP_RPATH that helps to skip setting RPATH
for the library. By default the option is OFF.
Upstream-Status: Submitted [https://github.com/ompl/ompl/pull/101]
---
CMakeModules/CompilerSettings.cmake | 13 ++++++++-----
1 file changed, 8 insertions(+), 5 deletions(-)
diff --git a/CMakeModules/CompilerSettings.cmake b/CMakeModules/CompilerSettings.cmake
index ecef2db..65e3f45 100644
--- a/CMakeModules/CompilerSettings.cmake
+++ b/CMakeModules/CompilerSettings.cmake
@@ -47,11 +47,14 @@ if((CMAKE_COMPILER_IS_GNUCXX OR IS_ICPC) AND NOT MINGW)
add_definitions(-fPIC)
endif((CMAKE_COMPILER_IS_GNUCXX OR IS_ICPC) AND NOT MINGW)
-# Set rpath http://www.paraview.org/Wiki/CMake_RPATH_handling
-set(CMAKE_SKIP_BUILD_RPATH FALSE)
-set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+option(OMPL_SKIP_RPATH "Don't set RPATH to the OMPL library" OFF)
+if(NOT OMPL_SKIP_RPATH)
+ # Set rpath http://www.paraview.org/Wiki/CMake_RPATH_handling
+ set(CMAKE_SKIP_BUILD_RPATH FALSE)
+ set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+ set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+endif()
# no prefix needed for python modules
set(CMAKE_SHARED_MODULE_PREFIX "")
--
2.9.3

7
recipes-extended/ompl/ompl_1.1.0.bb
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@ -5,10 +5,15 @@ LIC_FILES_CHKSUM = "file://LICENSE;md5=923f436234988118e9a042c42a64323c"
DEPENDS = "boost libeigen"
SRC_URI = "https://bitbucket.org/ompl/ompl/downloads/ompl-1.1.0-Source.tar.gz"
SRC_URI = "https://bitbucket.org/ompl/ompl/downloads/ompl-1.1.0-Source.tar.gz \
file://0001-address-gcc6-build-error.patch \
file://0002-Add-option-to-skip-setting-RPATH.patch \
"
SRC_URI[md5sum] = "2a72c5add9675e164c8370a710627e93"
SRC_URI[sha256sum] = "4d141ad3aa322c65ee7ecfa90017a44a8114955316e159b635fae5b5e7db74f8"
S = "${WORKDIR}/ompl-${PV}-Source"
inherit cmake
EXTRA_OECMAKE = "-DOMPL_SKIP_RPATH=ON"

16
recipes-ros/household-objects-database-msgs/household-objects-database-msgs_0.1.2.bb Normal file
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@ -0,0 +1,16 @@
DESCRIPTION = "The household_objects_database_msgs package"
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "message-generation std-msgs geometry-msgs shape-msgs object-recognition-msgs"
SRC_URI = "https://github.com/ros-interactive-manipulation/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
SRC_URI[md5sum] = "96cc5baed4d92626044470772745bf58"
SRC_URI[sha256sum] = "1ab82ef50d580635a7248c83585e641687aa32465c766ebcda5f044778f9ff5b"
S = "${WORKDIR}/${ROS_SP}"
inherit catkin
ROS_SPN = "household_objects_database_msgs"

16
recipes-ros/manipulation-msgs/manipulation-msgs_0.2.1.bb Normal file
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DESCRIPTION = "The manipulation_msgs package"
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "actionlib-msgs geometry-msgs sensor-msgs shape-msgs household-objects-database-msgs"
SRC_URI = "https://github.com/ros-interactive-manipulation/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
SRC_URI[md5sum] = "48bb43443982dc6c78afaf2b65a74e67"
SRC_URI[sha256sum] = "b34fae176367ff727876959e5f40eafeb9a7c158424bc288ae7eb9045e6b3a41"
S = "${WORKDIR}/${ROS_SP}"
inherit catkin
ROS_SPN = "manipulation_msgs"

10
recipes-ros/moveit/moveit-kinematics_0.7.9.bb Normal file
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@ -0,0 +1,10 @@
DESCRIPTION = "Package for all inverse kinematics solvers in MoveIt!"
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "moveit-core moveit-ros-planning"
require moveit.inc
ROS_BPN = "moveit_kinematics"

12
recipes-ros/moveit/moveit-planners-ompl_0.7.9.bb Normal file
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@ -0,0 +1,12 @@
DESCRIPTION = "MoveIt interface to OMPL"
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "moveit-core moveit-ros-planning ompl"
require moveit.inc
ROS_BPN = "moveit_planners/ompl"
FILES_${PN} += "${ros_libdir}/moveit_planners_ompl/*"

10
recipes-ros/moveit/moveit-ros-manipulation_0.7.9.bb Normal file
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@ -0,0 +1,10 @@
DESCRIPTION = "Components of MoveIt used for manipulation"
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "moveit-core moveit-ros-planning moveit-ros-move-group moveit-msgs manipulation-msgs"
require moveit.inc
ROS_BPN = "moveit_ros/manipulation"

14
recipes-ros/moveit/moveit-ros-move-group_0.7.9.bb Normal file
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@ -0,0 +1,14 @@
DESCRIPTION = "The move_group node for MoveIt"
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "moveit-core moveit-ros-planning std-srvs"
require moveit.inc
ROS_BPN = "moveit_ros/move_group"
RDEPENDS_${PN} += "moveit-kinematics"
FILES_${PN} += "${ros_libdir}/moveit_ros_move_group/*"

27
recipes-ros/moveit/moveit-simple-controller-manager/0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch Normal file
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@ -0,0 +1,27 @@
From 475a3477b2949392130e67182459390960a375c9 Mon Sep 17 00:00:00 2001
From: Maarten de Vries <maarten@de-vri.es>
Date: Fri, 20 May 2016 20:08:29 +0200
Subject: [PATCH] Fix conversion of shared ptr to bool for C++11.
Upstream-Status: Backported [from Kinetic release]
---
.../moveit_simple_controller_manager/action_based_controller_handle.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/include/moveit_simple_controller_manager/action_based_controller_handle.h b/include/moveit_simple_controller_manager/action_based_controller_handle.h
index f1bec33..e1315fe 100644
--- a/include/moveit_simple_controller_manager/action_based_controller_handle.h
+++ b/include/moveit_simple_controller_manager/action_based_controller_handle.h
@@ -86,7 +86,7 @@ public:
bool isConnected() const
{
- return controller_action_client_;
+ return static_cast<bool>(controller_action_client_);
}
virtual bool cancelExecution()
--
2.9.3

12
recipes-ros/moveit/moveit-simple-controller-manager_0.7.9.bb Normal file
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@ -0,0 +1,12 @@
DESCRIPTION = "A generic, simple controller manager plugin for MoveIt."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "moveit-core actionlib control-msgs pluginlib roscpp"
require moveit.inc
SRC_URI_append = " file://0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch"
ROS_BPN = "moveit_plugins/moveit_simple_controller_manager"

5
recipes-ros/packagegroups/packagegroup-ros-world.bb
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@ -178,9 +178,14 @@ RDEPENDS_${PN} = "\
ar-track-alvar \
ar-track-alvar-msgs \
moveit-core \
moveit-kinematics \
moveit-msgs \
moveit-planners-ompl \
moveit-ros-manipulation \
moveit-ros-move-group \
moveit-ros-perception \
moveit-ros-planning \
moveit-simple-controller-manager \
mavros-msgs \
cv-camera \
object-recognition-msgs \