Set project VERSION in moveit_common, fix sonames

[henningkayser]

Fixes dependency issues in build farm due to invalid sonames (https://build.ros2.org/job/Gbin_uF64__moveit_ros_planning__ubuntu_focal_amd64__binary/2/console).

The issue is that ${PROJECT_NAME}_VERSION is not set automatically with colcon, it needs to be set explicitly using ament_package_xml(). Since the sonames are configured in all packages by setting the VERSION property, the actual file name ends up ending with a .. With this fix the sonames are set to the corresponding package versions for all libraries. In the future we should consider setting up explicit ABI versions.

[codecov]

Codecov Report

Merging #532 (bc75872) into main (6a76ef4) will decrease coverage by 0.02%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #532      +/-   ##
==========================================
- Coverage   46.67%   46.65%   -0.01%     
==========================================
  Files         183      183              
  Lines       19654    19654              
==========================================
- Hits         9171     9168       -3     
- Misses      10483    10486       +3     

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	74.72% <0.00%> (-1.13%)	⬇️

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 6a76ef4...bc75872. Read the comment docs.

[jspricke]

Looks like this is not enough. Steps to reproduce:

cd moveit2/moveit_ros/occupancy_map_monitor
bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro galactic
git deborig HEAD
debuild
ls obj-x86_64-linux-gnu/libmoveit_ros_occupancy_map_monitor.so.

Though with colcon it builds a libmoveit_ros_occupancy_map_monitor.so.2.2.0

Edit:
even easier:

cd moveit2/moveit_ros/occupancy_map_monitor
mkdir build
cd build
cmake ..
make
ls libmoveit_ros_occupancy_map_monitor.so.

[davetcoleman]

Shouldn't this change be applied to all MoveIt2 packages?

[jspricke]

Shouldn't this change be applied to all MoveIt2 packages?

No, Henning is changing the macro (and I missed that I had an old version installed, so retesting right now)

[henningkayser]

Shouldn't this change be applied to all MoveIt2 packages?

The moveit_package macro is actually applied to all MoveIt packages, so yes, but it's already done ;)