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Port planning_scene to ROS2 #43

Merged
merged 11 commits into from
Jun 12, 2019
Merged

Port planning_scene to ROS2 #43

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1445fe7
Port planning_scene to ROS2
vmayoral Mar 10, 2019
3181e29
planning_scene, adapt logger to https://github.com/ros-planning/movei…
vmayoral Mar 30, 2019
e6f6082
planning_scene - applying clang format 3.9
ahcorde May 17, 2019
d5bd6ca
planning_scene smart pointer world passed by value
ahcorde May 17, 2019
ba1e600
Merge branch 'master' into planning-scene
May 17, 2019
ca02302
clang
May 21, 2019
acd617d
moveit_core planning_scene - restoring constructor headers
ahcorde May 21, 2019
6d35b17
moveit_core planning_scene - Fixing Cmakelists.txt and including test…
ahcorde May 22, 2019
15ba426
move_core planning_scene - Logger inside the namespace
ahcorde May 22, 2019
9fa297f
moveit_core planning_scene - fixing CMakeLists.txt
ahcorde May 24, 2019
01f9e4f
clang and whitespace
Jun 1, 2019
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11 changes: 5 additions & 6 deletions moveit_core/planning_scene/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,11 +1,5 @@
set(MOVEIT_LIB_NAME moveit_planning_scene)

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}/../utils:${CMAKE_CURRENT_BINARY_DIR}/../collision_detection_fcl:${CMAKE_CURRENT_BINARY_DIR}/../collision_detection")
endif()

add_library(${MOVEIT_LIB_NAME} SHARED src/planning_scene.cpp)
#TODO: Fix the versioning
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
Expand Down Expand Up @@ -42,8 +36,13 @@ install(DIRECTORY include/ DESTINATION include)

if(BUILD_TESTING)
find_package(moveit_resources REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
include_directories(${moveit_resources_INCLUDE_DIRS})

if(UNIX OR APPLE)
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_BINARY_DIR}/../utils:${CMAKE_CURRENT_BINARY_DIR}/../collision_detection_fcl:${CMAKE_CURRENT_BINARY_DIR}/../collision_detection")
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Hardcoding relative paths is a bad idea.

I would recommend that for every library in this package that is used else ware you set a <lib_name>_lib_dir environment variable that can then be used by the tests

A good example is the rcl_lib_dir I have taken the time to show how it is used below:

/home/mike/ws_ros2/src/ros2/rcl/rcl/CMakeLists.txt:
   78  
   79: # rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
   80  # the librcl that they link against is on the library path.
   81  # This is especially important on Windows.
   82  # This is overwritten each loop, but which one it points to doesn't really matter.
   83: set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
   84  

/home/mike/ws_ros2/src/ros2/rcl/rcl/test/CMakeLists.txt:
   16  
   17: set(extra_lib_dirs "${rcl_lib_dir}")
   18  
   
/home/mike/ws_ros2/src/ros2/rcl/rcl/test/CMakeLists.txt:
   34    rcl_add_custom_gtest(test_client${target_suffix}
   35      SRCS rcl/test_client.cpp
   36:     INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
   37      ENV ${rmw_implementation_env_var}
   38      APPEND_LIBRARY_DIRS ${extra_lib_dirs}

The example uses rcl_add_custom_gtest but it should work just as well with ament_add_gtest

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If you don't mind I prefer to merge this. And then I will fix them all together. Because we have other merged that use this style. I can open an issue to avoid forgetting it.

endif()

ament_add_gtest(test_planning_scene test/test_planning_scene.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_planning_scene
Expand Down