Merge pull request #1370 from BryceStevenWilley/fcl_plugin

Fcl as a Plugin
moveit · Mar 7, 2019 · 7bd2ea6 · 7bd2ea6
2 parents d411fe3 + 81ed3cb
commit 7bd2ea6
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Showing 5 changed files with 52 additions and 1 deletion.
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -10,12 +10,19 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${LIBFCL_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
-install(TARGETS ${MOVEIT_LIB_NAME}
+add_library(collision_detector_fcl_plugin src/collision_detector_fcl_plugin_loader.cpp)
+set_target_properties(collision_detector_fcl_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_link_libraries(collision_detector_fcl_plugin ${catkin_LIBRARIES} ${MOVEIT_LIB_NAME})
+
+
+install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_fcl_plugin
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
 install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
+install(FILES ../collision_detector_fcl_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 if(CATKIN_ENABLE_TESTING)
   find_package(moveit_resources REQUIRED)
   include_directories(${moveit_resources_INCLUDE_DIRS})

diff --git a/...tection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h b/...tection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
@@ -0,0 +1,19 @@
+/*
+ * collision_detector_fcl_plugin_loader.h
+ */
+
+#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_
+#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_
+
+#include <moveit/collision_detection/collision_plugin.h>
+#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
+
+namespace collision_detection
+{
+class CollisionDetectorFCLPluginLoader : public CollisionPlugin
+{
+public:
+  virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const;
+};
+}
+#endif  // MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_
diff --git a/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp b/moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp
@@ -0,0 +1,13 @@
+#include <moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h>
+#include <pluginlib/class_list_macros.h>
+
+namespace collision_detection
+{
+bool CollisionDetectorFCLPluginLoader::initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const
+{
+  scene->setActiveCollisionDetector(CollisionDetectorAllocatorFCL::create(), exclusive);
+  return true;
+}
+}
+
+PLUGINLIB_EXPORT_CLASS(collision_detection::CollisionDetectorFCLPluginLoader, collision_detection::CollisionPlugin)
diff --git a/moveit_core/collision_detector_fcl_description.xml b/moveit_core/collision_detector_fcl_description.xml
@@ -0,0 +1,8 @@
+<library path="lib/libcollision_detector_fcl_plugin">
+  <class name="FCL" type="collision_detection::CollisionDetectorFCLPluginLoader"
+  base_class_type="collision_detection::CollisionPlugin">
+    <description>
+      FCL Collision Detector, default for MoveIt.
+    </description>
+  </class>
+</library>
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
@@ -54,4 +54,8 @@
   <test_depend>orocos_kdl</test_depend>
   <test_depend>rosunit</test_depend>
   <test_depend>code_coverage</test_depend>
+
+  <export>
+    <moveit_core plugin="${prefix}/collision_detector_fcl_description.xml"/>
+  </export>
 </package>