Humble: moveit_core bullet collision detection header not found

[gabrielfpacheco]

Description

When trying to include collision_detector_allocator_bullet.h, the file is not found since its install path has been changed in 2.5.5.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Source or Binary build? Binary
• If binary, which release version? 2.5.5-1jammy.20230919.231650

Steps to reproduce

1. Update and (re-)install moveit-core:

sudo apt update && sudo apt install ros-humble-moveit-core

2. Make sure the release version is 2.5.5:

$ apt show ros-humble-moveit-core
Package: ros-humble-moveit-core
Version: 2.5.5-1jammy.20230919.231650

3. Create an example package depending on moveit_core only:

ros2 pkg create \
 --build-type ament_cmake \
 --dependencies moveit_core \
 --node-name test_node issue_moveit_core

4. Update test_node.cpp to include Bullet's collision detector allocator:

#include <cstdio>

#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>

int main(int argc, char ** argv)
{
  (void) argc;
  (void) argv;

  printf("hello world issue_moveit_core package\n");
  return 0;
} 

5. Build the package

~/ws_moveit$ colcon build --packages-select issue_moveit_core

Expected behaviour

One should able to #include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h> and the compilation process
should be completed successfully as it does if #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h> is used instead.

Actual behaviour

The build fails since the header is not found. Indeed, it is the only thing installed at <ROS_INSTALL_PATH>/include/moveit_core/moveit/ and not at <ROS_INSTALL_PATH>/include/moveit/.

Backtrace or Console output

~/ws_moveit$ colcon build --packages-select issue_moveit_core
[0.721s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/jammy/ws_moveit/install/hello_moveit' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.721s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/jammy/ws_moveit/install/hello_moveit' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> issue_moveit_core
--- stderr: issue_moveit_core                             
/home/jammy/ws_moveit/src/issue_moveit_core/src/test_node.cpp:3:10: fatal error: moveit/collision_detection_bullet/collision_detector_allocator_bullet.h: No such file or directory
    3 | #include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/test_node.dir/build.make:76: CMakeFiles/test_node.dir/src/test_node.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/test_node.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< issue_moveit_core [0.17s, exited with code 2]

Summary: 0 packages finished [0.74s]
  1 package failed: issue_moveit_core
  1 package had stderr output: issue_moveit_core

[gabrielfpacheco]

I think the issue is related to the fact that the destination path has been changed (unwillingly?) just for collision_detection_bullet without updating target_include_directories accordingly.

However, as per the description of #1889, it seems to me that the intention of the PR was not to modify the install path for collision_detection_bullet but only to remove ament_export_targets from this subfolder (maybe it occurred due to a wrong rebase process?).

[sjahr]

Closing this because it is fixed with #2403 @gabrielfpacheco please re-open if that's not the case and thank you for the fix!

[gabrielfpacheco]

Closing this because it is fixed with #2403 @gabrielfpacheco please re-open if that's not the case and thank you for the fix!

Thank you for the fast reply :)