small compilation fixes for macOS

moveit_core/collision_detection_fcl/CMakeLists.txt

@@ -30,6 +30,7 @@ ament_target_dependencies(collision_detector_fcl_plugin
 )
 target_link_libraries(collision_detector_fcl_plugin
   ${MOVEIT_LIB_NAME}
+  moveit_planning_scene
 )
 
 install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_fcl_plugin

moveit_core/utils/CMakeLists.txt

@@ -23,6 +23,7 @@ if(BUILD_TESTING)
   add_library(${MOVEIT_TEST_LIB_NAME} SHARED src/robot_model_test_utils.cpp)
   target_link_libraries(${MOVEIT_TEST_LIB_NAME} moveit_robot_model)
   ament_target_dependencies(${MOVEIT_TEST_LIB_NAME}
+    ament_index_cpp
     Boost
     geometry_msgs
     urdf

moveit_kinematics/kdl_kinematics_plugin/CMakeLists.txt

@@ -12,6 +12,7 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_msgs
   orocos_kdl
   kdl_parser
+  tf2_kdl
   EIGEN3
 )
 

moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt

@@ -7,6 +7,7 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   moveit_core
   moveit_msgs
+  tf2_kdl
 )
 
 install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION lib)

moveit_ros/move_group/CMakeLists.txt

@@ -59,6 +59,7 @@ set_target_properties(moveit_move_group_default_capabilities
 target_include_directories(moveit_move_group_default_capabilities PUBLIC include)
 ament_target_dependencies(moveit_move_group_default_capabilities
   rclcpp rclcpp_action moveit_core moveit_ros_planning std_srvs)
+target_link_libraries(moveit_move_group_default_capabilities moveit_move_group_capabilities_base)
 
 install(TARGETS move_group list_move_group_capabilities
   RUNTIME

moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp

@@ -149,7 +149,8 @@ bool MoveGroupCartesianPathService::computeService(
             constraint_fn = boost::bind(
                 &isStateValid,
                 req->avoid_collisions ? static_cast<const planning_scene::PlanningSceneConstPtr&>(*ls).get() : nullptr,
-                kset->empty() ? nullptr : kset.get(), _1, _2, _3);
+                kset->empty() ? nullptr : kset.get(), boost::placeholders::_1, boost::placeholders::_2,
+                boost::placeholders::_3);
           }
           bool global_frame = !moveit::core::Transforms::sameFrame(link_name, req->header.frame_id);
           RCLCPP_INFO(LOGGER, "Attempting to follow %u waypoints for link '%s' using a step of %lf m "

moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp

@@ -167,7 +167,8 @@ bool MoveGroupKinematicsService::computeIKService(const std::shared_ptr<rmw_requ
               boost::bind(&isIKSolutionValid, req->ik_request.avoid_collisions ?
                                                   static_cast<const planning_scene::PlanningSceneConstPtr&>(ls).get() :
                                                   nullptr,
-                          kset.empty() ? nullptr : &kset, _1, _2, _3));
+                          kset.empty() ? nullptr : &kset, boost::placeholders::_1, boost::placeholders::_2,
+                          boost::placeholders::_3));
   }
   else
   {

moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp

@@ -147,12 +147,13 @@ void MoveGroupMoveAction::executeMoveCallbackPlanAndExecute(const std::shared_pt
   opt.replan_delay_ = goal->get_goal()->planning_options.replan_delay;
   opt.before_execution_callback_ = boost::bind(&MoveGroupMoveAction::startMoveExecutionCallback, this);
 
-  opt.plan_callback_ =
-      boost::bind(&MoveGroupMoveAction::planUsingPlanningPipeline, this, boost::cref(motion_plan_request), _1);
+  opt.plan_callback_ = boost::bind(&MoveGroupMoveAction::planUsingPlanningPipeline, this,
+                                   boost::cref(motion_plan_request), boost::placeholders::_1);
   if (goal->get_goal()->planning_options.look_around && context_->plan_with_sensing_)
   {
     opt.plan_callback_ = boost::bind(&plan_execution::PlanWithSensing::computePlan, context_->plan_with_sensing_.get(),
-                                     _1, opt.plan_callback_, goal->get_goal()->planning_options.look_around_attempts,
+                                     boost::placeholders::_1, opt.plan_callback_,
+                                     goal->get_goal()->planning_options.look_around_attempts,
                                      goal->get_goal()->planning_options.max_safe_execution_cost);
     context_->plan_with_sensing_->setBeforeLookCallback(boost::bind(&MoveGroupMoveAction::startMoveLookCallback, this));
   }

moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp

@@ -260,7 +260,7 @@ moveit::core::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction()
   moveit::tools::Profiler::ScopedBlock prof_block("KinematicsPluginLoader::getLoaderFunction");
 
   if (loader_)
-    return boost::bind(&KinematicsLoaderImpl::allocKinematicsSolverWithCache, loader_.get(), _1);
+    return boost::bind(&KinematicsLoaderImpl::allocKinematicsSolverWithCache, loader_.get(), boost::placeholders::_1);
 
   rdf_loader::RDFLoader rml(node_, robot_description_);
   robot_description_ = rml.getRobotDescription();
@@ -417,6 +417,7 @@ moveit::core::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction(const
                                            iksolver_to_tip_links));
   }
 
-  return boost::bind(&KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache, loader_.get(), _1);
+  return boost::bind(&KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache, loader_.get(),
+                     boost::placeholders::_1);
 }
 }  // namespace kinematics_plugin_loader

moveit_ros/planning/plan_execution/src/plan_execution.cpp

@@ -86,7 +86,8 @@ plan_execution::PlanExecution::PlanExecution(
   new_scene_update_ = false;
 
   // we want to be notified when new information is available
-  planning_scene_monitor_->addUpdateCallback(boost::bind(&PlanExecution::planningSceneUpdatedCallback, this, _1));
+  planning_scene_monitor_->addUpdateCallback(
+      boost::bind(&PlanExecution::planningSceneUpdatedCallback, this, boost::placeholders::_1));
 
   // start the dynamic-reconfigure server
   // reconfigure_impl_ = new DynamicReconfigureImpl(this);
@@ -402,8 +403,8 @@ moveit_msgs::msg::MoveItErrorCodes plan_execution::PlanExecution::executeAndMoni
 
   // start a trajectory execution thread
   trajectory_execution_manager_->execute(
-      boost::bind(&PlanExecution::doneWithTrajectoryExecution, this, _1),
-      boost::bind(&PlanExecution::successfulTrajectorySegmentExecution, this, &plan, _1));
+      boost::bind(&PlanExecution::doneWithTrajectoryExecution, this, boost::placeholders::_1),
+      boost::bind(&PlanExecution::successfulTrajectorySegmentExecution, this, &plan, boost::placeholders::_1));
   // wait for path to be done, while checking that the path does not become invalid
   rclcpp::WallRate r(100);
   path_became_invalid_ = false;

moveit_ros/planning/planning_pipeline/CMakeLists.txt

@@ -8,6 +8,7 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_msgs
   rclcpp
   Boost
+  pluginlib
 )
 
 install(TARGETS ${MOVEIT_LIB_NAME}

moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp

@@ -183,10 +183,10 @@ void PlanningSceneMonitor::initialize(const planning_scene::PlanningScenePtr& sc
     }
     if (scene_)
     {
-      scene_->setAttachedBodyUpdateCallback(
-          boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, _1, _2));
-      scene_->setCollisionObjectUpdateCallback(
-          boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, _1, _2));
+      scene_->setAttachedBodyUpdateCallback(boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback,
+                                                        this, boost::placeholders::_1, boost::placeholders::_2));
+      scene_->setCollisionObjectUpdateCallback(boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback,
+                                                           this, boost::placeholders::_1, boost::placeholders::_2));
     }
   }
   else
@@ -321,10 +321,10 @@ void PlanningSceneMonitor::monitorDiffs(bool flag)
         parent_scene_ = scene_;
         scene_ = parent_scene_->diff();
         scene_const_ = scene_;
-        scene_->setAttachedBodyUpdateCallback(
-            boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, _1, _2));
-        scene_->setCollisionObjectUpdateCallback(
-            boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, _1, _2));
+        scene_->setAttachedBodyUpdateCallback(boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback,
+                                                          this, boost::placeholders::_1, boost::placeholders::_2));
+        scene_->setCollisionObjectUpdateCallback(boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback,
+                                                             this, boost::placeholders::_1, boost::placeholders::_2));
       }
     }
     else
@@ -435,9 +435,10 @@ void PlanningSceneMonitor::scenePublishingThread()
           scene_->pushDiffs(parent_scene_);
           scene_->clearDiffs();
           scene_->setAttachedBodyUpdateCallback(
-              boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, _1, _2));
-          scene_->setCollisionObjectUpdateCallback(
-              boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, _1, _2));
+              boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, boost::placeholders::_1,
+                          boost::placeholders::_2));
+          scene_->setCollisionObjectUpdateCallback(boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback,
+                                                               this, boost::placeholders::_1, boost::placeholders::_2));
           if (octomap_monitor_)
           {
             excludeAttachedBodiesFromOctree();  // in case updates have happened to the attached bodies, put them in
@@ -666,10 +667,10 @@ bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::msg::Plann
       parent_scene_ = scene_;
       scene_ = parent_scene_->diff();
       scene_const_ = scene_;
-      scene_->setAttachedBodyUpdateCallback(
-          boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, _1, _2));
-      scene_->setCollisionObjectUpdateCallback(
-          boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, _1, _2));
+      scene_->setAttachedBodyUpdateCallback(boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback,
+                                                        this, boost::placeholders::_1, boost::placeholders::_2));
+      scene_->setCollisionObjectUpdateCallback(boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback,
+                                                           this, boost::placeholders::_1, boost::placeholders::_2));
     }
     if (octomap_monitor_)
     {
@@ -1173,8 +1174,9 @@ void PlanningSceneMonitor::startWorldGeometryMonitor(const std::string& collisio
       excludeAttachedBodiesFromOctree();
       excludeWorldObjectsFromOctree();
 
-      octomap_monitor_->setTransformCacheCallback(
-          boost::bind(&PlanningSceneMonitor::getShapeTransformCache, this, _1, _2, _3));
+      octomap_monitor_->setTransformCacheCallback(boost::bind(&PlanningSceneMonitor::getShapeTransformCache, this,
+                                                              boost::placeholders::_1, boost::placeholders::_2,
+                                                              boost::placeholders::_3));
       octomap_monitor_->setUpdateCallback(boost::bind(&PlanningSceneMonitor::octomapUpdateCallback, this));
     }
     octomap_monitor_->startMonitor();
@@ -1207,7 +1209,8 @@ void PlanningSceneMonitor::startStateMonitor(const std::string& joint_states_top
     {
       current_state_monitor_.reset(new CurrentStateMonitor(pnode_, getRobotModel(), tf_buffer_));
     }
-    current_state_monitor_->addUpdateCallback(boost::bind(&PlanningSceneMonitor::onStateUpdate, this, _1));
+    current_state_monitor_->addUpdateCallback(
+        boost::bind(&PlanningSceneMonitor::onStateUpdate, this, boost::placeholders::_1));
     current_state_monitor_->startStateMonitor(joint_states_topic);
 
     {

moveit_ros/planning_interface/move_group_interface/CMakeLists.txt

@@ -2,7 +2,7 @@ set(MOVEIT_LIB_NAME moveit_move_group_interface)
 
 add_library(${MOVEIT_LIB_NAME} SHARED src/move_group_interface.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface)
+target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${Boost_THREAD_LIBRARY})
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_ros_occupancy_map_monitor
   moveit_ros_move_group

moveit_ros/robot_interaction/src/interaction_handler.cpp

@@ -1,3 +1,4 @@
+
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
@@ -210,7 +211,7 @@ void InteractionHandler::handleGeneric(
     StateChangeCallbackFn callback;
     // modify the RobotState in-place with the state_lock_ held.
     LockedRobotState::modifyState(
-        boost::bind(&InteractionHandler::updateStateGeneric, this, _1, &g, &feedback, &callback));
+        boost::bind(&InteractionHandler::updateStateGeneric, this, boost::placeholders::_1, &g, &feedback, &callback));
 
     // This calls update_callback_ to notify client that state changed.
     if (callback)
@@ -242,8 +243,8 @@ void InteractionHandler::handleEndEffector(
 
   // modify the RobotState in-place with state_lock_ held.
   // This locks state_lock_ before calling updateState()
-  LockedRobotState::modifyState(
-      boost::bind(&InteractionHandler::updateStateEndEffector, this, _1, &eef, &tpose.pose, &callback));
+  LockedRobotState::modifyState(boost::bind(&InteractionHandler::updateStateEndEffector, this, boost::placeholders::_1,
+                                            &eef, &tpose.pose, &callback));
 
   // This calls update_callback_ to notify client that state changed.
   if (callback)
@@ -274,7 +275,7 @@ void InteractionHandler::handleJoint(const JointInteraction& vj,
   // modify the RobotState in-place with state_lock_ held.
   // This locks state_lock_ before calling updateState()
   LockedRobotState::modifyState(
-      boost::bind(&InteractionHandler::updateStateJoint, this, _1, &vj, &tpose.pose, &callback));
+      boost::bind(&InteractionHandler::updateStateJoint, this, boost::placeholders::_1, &vj, &tpose.pose, &callback));
 
   // This calls update_callback_ to notify client that state changed.
   if (callback)
@@ -289,7 +290,7 @@ void InteractionHandler::updateStateGeneric(
   bool ok = g->process_feedback(*state, *feedback);
   bool error_state_changed = setErrorState(g->marker_name_suffix, !ok);
   if (update_callback_)
-    *callback = boost::bind(update_callback_, _1, error_state_changed);
+    *callback = boost::bind(update_callback_, boost::placeholders::_1, error_state_changed);
 }
 
 // MUST hold state_lock_ when calling this!
@@ -303,7 +304,7 @@ void InteractionHandler::updateStateEndEffector(moveit::core::RobotState* state,
   bool ok = kinematic_options.setStateFromIK(*state, eef->parent_group, eef->parent_link, *pose);
   bool error_state_changed = setErrorState(eef->parent_group, !ok);
   if (update_callback_)
-    *callback = boost::bind(update_callback_, _1, error_state_changed);
+    *callback = boost::bind(update_callback_, boost::placeholders::_1, error_state_changed);
 }
 
 // MUST hold state_lock_ when calling this!
@@ -321,7 +322,7 @@ void InteractionHandler::updateStateJoint(moveit::core::RobotState* state, const
   state->update();
 
   if (update_callback_)
-    *callback = boost::bind(update_callback_, _1, false);
+    *callback = boost::bind(update_callback_, boost::placeholders::_1, false);
 }
 
 bool InteractionHandler::inError(const EndEffectorInteraction& eef) const

moveit_ros/robot_interaction/src/robot_interaction.cpp

@@ -542,8 +542,8 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
   for (const visualization_msgs::msg::InteractiveMarker& im : ims)
   {
     int_marker_server_->insert(im);
-    int_marker_server_->setCallback(im.name,
-                                    boost::bind(&RobotInteraction::processInteractiveMarkerFeedback, this, _1));
+    int_marker_server_->setCallback(
+        im.name, boost::bind(&RobotInteraction::processInteractiveMarkerFeedback, this, boost::placeholders::_1));
 
     // Add menu handler to all markers that this interaction handler creates.
     if (std::shared_ptr<interactive_markers::MenuHandler> mh = handler->getMenuHandler())

moveit_ros/robot_interaction/test/locked_robot_state_test.cpp

@@ -433,7 +433,7 @@ void MyInfo::modifyThreadFunc(robot_interaction::LockedRobotState* locked_state,
     {
       val += 0.0001;
 
-      locked_state->modifyState(boost::bind(&MyInfo::modifyFunc, this, _1, val));
+      locked_state->modifyState(boost::bind(&MyInfo::modifyFunc, this, boost::placeholders::_1, val));
     }
 
     cnt_lock_.lock();

moveit_ros/visualization/CMakeLists.txt

@@ -104,3 +104,5 @@ ament_export_dependencies(tf2_eigen)
 ament_export_dependencies(Eigen3)
 ament_export_dependencies(rviz_ogre_vendor)
 ament_package()
+
+include_directories("${OGRE_PREFIX_DIR}/include")

moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt

@@ -38,7 +38,9 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}_core
   rviz_ogre_vendor
   Qt5
   pluginlib
+  rviz_ogre_vendor
 )
+target_include_directories(${MOVEIT_LIB_NAME}_core PRIVATE "${OGRE_PREFIX_DIR}/include")
 
 add_library(${MOVEIT_LIB_NAME} SHARED src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
@@ -47,7 +49,9 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   Boost
   moveit_ros_robot_interaction
   pluginlib
+  rviz_ogre_vendor
 )
+target_include_directories(${MOVEIT_LIB_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")
 
 install(DIRECTORY include/ DESTINATION include)
 

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp

@@ -177,7 +177,8 @@ MotionPlanningDisplay::MotionPlanningDisplay()
   trajectory_visual_.reset(new TrajectoryVisualization(path_category_, this));
 
   // Start background jobs
-  background_process_.setJobUpdateEvent(boost::bind(&MotionPlanningDisplay::backgroundJobUpdate, this, _1, _2));
+  background_process_.setJobUpdateEvent(
+      boost::bind(&MotionPlanningDisplay::backgroundJobUpdate, this, boost::placeholders::_1, boost::placeholders::_2));
 }
 
 // ******************************************************************************************
@@ -1128,7 +1129,8 @@ void MotionPlanningDisplay::onRobotModelLoaded()
   robot_interaction_.reset(
       new robot_interaction::RobotInteraction(getRobotModel(), node_, "rviz_moveit_motion_planning_display"));
   robot_interaction::KinematicOptions o;
-  o.state_validity_callback_ = boost::bind(&MotionPlanningDisplay::isIKSolutionCollisionFree, this, _1, _2, _3);
+  o.state_validity_callback_ = boost::bind(&MotionPlanningDisplay::isIKSolutionCollisionFree, this,
+                                           boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3);
   robot_interaction_->getKinematicOptionsMap()->setOptions(
       robot_interaction::KinematicOptionsMap::ALL, o, robot_interaction::KinematicOptions::STATE_VALIDITY_CALLBACK);
 
@@ -1143,8 +1145,10 @@ void MotionPlanningDisplay::onRobotModelLoaded()
                                                                      planning_scene_monitor_->getTFClient()));
   query_goal_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "goal", *previous_state_,
                                                                     planning_scene_monitor_->getTFClient()));
-  query_start_state_->setUpdateCallback(boost::bind(&MotionPlanningDisplay::scheduleDrawQueryStartState, this, _1, _2));
-  query_goal_state_->setUpdateCallback(boost::bind(&MotionPlanningDisplay::scheduleDrawQueryGoalState, this, _1, _2));
+  query_start_state_->setUpdateCallback(boost::bind(&MotionPlanningDisplay::scheduleDrawQueryStartState, this,
+                                                    boost::placeholders::_1, boost::placeholders::_2));
+  query_goal_state_->setUpdateCallback(boost::bind(&MotionPlanningDisplay::scheduleDrawQueryGoalState, this,
+                                                   boost::placeholders::_1, boost::placeholders::_2));
 
   // Interactive marker menus
   populateMenuHandler(menu_handler_start_);