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port of bullet collision to ros2 #322

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merged 10 commits into from
Mar 10, 2021
Merged

port of bullet collision to ros2 #322

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a24c8c6
port of bullet collision to ros2
jrgnicho Dec 24, 2020
6e05c05
moved implementation of some fuctions from the headers into source cp…
jrgnicho Jan 19, 2021
b72b273
applied clang formatting
jrgnicho Jan 19, 2021
af63b9d
Renamed BULLET to Bullet
jrgnicho Jan 19, 2021
87712bd
reverted back to bullet instead of libbullet-dev dependency
jrgnicho Jan 19, 2021
a9406a4
exports bullet plugin
jrgnicho Feb 3, 2021
b4f91a9
removed Bullet Found if check
jrgnicho Feb 3, 2021
e04821e
added original author of the function to new cpp file
jrgnicho Feb 3, 2021
bf98396
fixed ament lint errors
jrgnicho Mar 2, 2021
16f5666
Merge branch 'main' into bullet-collision-ros2-port
henningkayser Mar 10, 2021
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33 changes: 10 additions & 23 deletions moveit_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,19 +15,8 @@ include(ConfigExtras.cmake)

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")

# TODO(henningkayser): enable bullet once the library is migrated to ROS2
# TODO: Move collision detection into separate packages
# find_package(Bullet 2.87)
#
# # TODO(j-petit): Version check can be dropped when Xenial reaches end-of-life
# if(BULLET_FOUND)
# set(BULLET_ENABLE "BULLET")
# set(BULLET_LIB "moveit_collision_detection_bullet")
# set(BULLET_INC "collision_detection_bullet/include")
# message(STATUS "Compiling with Bullet")
# else()
# message(STATUS "Version of Bullet too old or not available: disabling Bullet collision detection plugin. Try using Ubuntu 18.04 or later.")
# endif()
find_package(Bullet 2.87 REQUIRED)

find_package(PkgConfig REQUIRED)

Expand Down Expand Up @@ -70,7 +59,7 @@ set(THIS_PACKAGE_INCLUDE_DIRS
backtrace/include
collision_detection/include
collision_detection_fcl/include
# ${BULLET_INC}
${BULLET_INC}
constraint_samplers/include
controller_manager/include
distance_field/include
Expand Down Expand Up @@ -104,9 +93,7 @@ set(THIS_PACKAGE_LIBRARIES
moveit_planning_interface
moveit_collision_detection
moveit_collision_detection_fcl
collision_detector_fcl_plugin
# ${BULLET_LIB}
# collision_detector_bullet_plugin
${BULLET_LIB}
moveit_kinematic_constraints
moveit_planning_scene
moveit_constraint_samplers
Expand Down Expand Up @@ -140,13 +127,13 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
Eigen3
eigen3_cmake_module
OCTOMAP
# ${BULLET_ENABLE}
${BULLET_ENABLE}
)
pluginlib_export_plugin_description_file(moveit_core collision_detector_fcl_description.xml)

include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
${LIBFCL_INCLUDE_DIRS}
# ${BULLET_INCLUDE_DIRS}
${BULLET_INCLUDE_DIRS}
)

include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
Expand Down Expand Up @@ -189,11 +176,11 @@ add_subdirectory(collision_distance_field)
add_subdirectory(kinematics_metrics)
add_subdirectory(dynamics_solver)
# TODO(henningkayser): enable bullet once the library is migrated to ROS2
# if(BULLET_ENABLE)
# add_subdirectory(collision_detection_bullet)
# else()
# install(FILES collision_detection_bullet/empty_description.xml DESTINATION share/${PROJECT_NAME} RENAME collision_detector_bullet_description.xml)
# endif()
if(BULLET_ENABLE)
add_subdirectory(collision_detection_bullet)
else()
install(FILES collision_detection_bullet/empty_description.xml DESTINATION share/${PROJECT_NAME} RENAME collision_detector_bullet_description.xml)
endif()

install(
TARGETS ${THIS_PACKAGE_LIBRARIES}
Expand Down
62 changes: 48 additions & 14 deletions moveit_core/collision_detection_bullet/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,34 +6,68 @@ add_library(${MOVEIT_LIB_NAME}
src/bullet_integration/bullet_cast_bvh_manager.cpp
src/collision_env_bullet.cpp
src/bullet_integration/bullet_bvh_manager.cpp
src/bullet_integration/contact_checker_common.cpp
src/bullet_integration/ros_bullet_utils.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection
${catkin_LIBRARIES} ${urdfdom_LIBRARIES}
${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES}
${BULLET_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
ament_target_dependencies(${MOVEIT_LIB_NAME}
rclcpp
rmw_implementation
urdf
urdfdom
urdfdom_headers
Boost
visualization_msgs
)
target_link_libraries(${MOVEIT_LIB_NAME}
moveit_collision_detection
${BULLET_LIBRARIES}
)

add_library(collision_detector_bullet_plugin src/collision_detector_bullet_plugin_loader.cpp)
set_target_properties(collision_detector_bullet_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
target_link_libraries(collision_detector_bullet_plugin ${catkin_LIBRARIES} ${MOVEIT_LIB_NAME})
ament_target_dependencies(collision_detector_bullet_plugin
rclcpp
urdf
visualization_msgs
pluginlib
rmw_implementation
)
target_link_libraries(collision_detector_bullet_plugin
${MOVEIT_LIB_NAME}
moveit_planning_scene
)

install(TARGETS ${MOVEIT_LIB_NAME} EXPORT ${MOVEIT_LIB_NAME}
TARGETS collision_detector_bullet_plugin EXPORT collision_detector_bullet_plugin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/ DESTINATION include)

install(FILES ../collision_detector_bullet_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})

if(BUILD_TESTING)
if(WIN32)
# set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
else()
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../collision_detection;${CMAKE_CURRENT_BINARY_DIR}/../robot_state;${CMAKE_CURRENT_BINARY_DIR}/../robot_model;${CMAKE_CURRENT_BINARY_DIR}/../utils")
endif()

if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
ament_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
# TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)

catkin_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
ament_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
# TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)

catkin_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
ament_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME})
# TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
endif()
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