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small compilation fixes for macOS #271

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merged 6 commits into from Sep 15, 2020
Merged

small compilation fixes for macOS #271

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97648c6
small compilation fixes for macOS
mamoll Sep 1, 2020
4e3ac46
clang-format
mamoll Sep 3, 2020
1fc3ae9
Merge branch 'master' into pr-macos-fixes
henningkayser Sep 4, 2020
7538de7
Merge branch 'main' into pr-macos-fixes
mamoll Sep 4, 2020
74ce815
more macos fixes
mamoll Sep 4, 2020
2d689ba
clang-format
mamoll Sep 4, 2020
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1 change: 1 addition & 0 deletions moveit_core/collision_detection_fcl/CMakeLists.txt
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Expand Up @@ -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 ${MOVEIT_LIB_NAME} collision_detector_fcl_plugin
Expand Down
1 change: 1 addition & 0 deletions moveit_core/utils/CMakeLists.txt
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Expand Up @@ -23,6 +23,7 @@ if(BUILD_TESTING)
add_library(${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
Expand Down
1 change: 1 addition & 0 deletions moveit_kinematics/kdl_kinematics_plugin/CMakeLists.txt
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Expand Up @@ -12,6 +12,7 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
moveit_msgs
orocos_kdl
kdl_parser
tf2_kdl
EIGEN3
)

Expand Down
1 change: 1 addition & 0 deletions moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt
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Expand Up @@ -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)
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1 change: 1 addition & 0 deletions moveit_ros/move_group/CMakeLists.txt
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
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Expand Up @@ -149,7 +149,7 @@ 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);
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broader question: why are we using boost::bind instead of std::bind? Is there a lower-level library requiring it? If not, seems like we should update MoveIt2 to reduce our boost usage (core ROS2 has done so).

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... or use lambda's.

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The only downside to lambdas is that I'm not sure they are as broadly understood - they seem a little more "advanced". In various discussions I've recently had with ROS/ROS2 package maintainers, I've noticed there is pretty decent evidence that the more advanced the codebase, the harder it is to get community help.

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I agree that we should switch to lambdas in cases where the function is trivial (i.e. log message and return of a result) or where another member function should be called but we need to preprocess the arguments. Otherwise,std::bind is often much shorter and more readable.

}
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 "
Expand Down
2 changes: 1 addition & 1 deletion moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
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Expand Up @@ -167,7 +167,7 @@ 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
{
Expand Down
4 changes: 2 additions & 2 deletions moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
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Expand Up @@ -162,11 +162,11 @@ void MoveGroupMoveAction::executeMoveCallbackPlanAndExecute(const std::shared_pt
opt.before_execution_callback_ = boost::bind(&MoveGroupMoveAction::startMoveExecutionCallback, this);

opt.plan_callback_ =
boost::bind(&MoveGroupMoveAction::planUsingPlanningPipeline, this, boost::cref(motion_plan_request), _1);
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));
}
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4 changes: 2 additions & 2 deletions moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
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Expand Up @@ -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();
Expand Down Expand Up @@ -417,6 +417,6 @@ 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
6 changes: 3 additions & 3 deletions moveit_ros/planning/plan_execution/src/plan_execution.cpp
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Expand Up @@ -86,7 +86,7 @@ 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);
Expand Down Expand Up @@ -402,8 +402,8 @@ 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;
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1 change: 1 addition & 0 deletions moveit_ros/planning/planning_pipeline/CMakeLists.txt
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Expand Up @@ -8,6 +8,7 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
moveit_msgs
rclcpp
Boost
pluginlib
)

install(TARGETS ${MOVEIT_LIB_NAME}
Expand Down
20 changes: 10 additions & 10 deletions moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
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Expand Up @@ -184,9 +184,9 @@ void PlanningSceneMonitor::initialize(const planning_scene::PlanningScenePtr& sc
if (scene_)
{
scene_->setAttachedBodyUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, _1, _2));
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, boost::placeholders::_1, boost::placeholders::_2));
scene_->setCollisionObjectUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, _1, _2));
boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, boost::placeholders::_1, boost::placeholders::_2));
}
}
else
Expand Down Expand Up @@ -322,9 +322,9 @@ void PlanningSceneMonitor::monitorDiffs(bool flag)
scene_ = parent_scene_->diff();
scene_const_ = scene_;
scene_->setAttachedBodyUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, _1, _2));
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, boost::placeholders::_1, boost::placeholders::_2));
scene_->setCollisionObjectUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, _1, _2));
boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, boost::placeholders::_1, boost::placeholders::_2));
}
}
else
Expand Down Expand Up @@ -435,9 +435,9 @@ void PlanningSceneMonitor::scenePublishingThread()
scene_->pushDiffs(parent_scene_);
scene_->clearDiffs();
scene_->setAttachedBodyUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, _1, _2));
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, boost::placeholders::_1, boost::placeholders::_2));
scene_->setCollisionObjectUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, _1, _2));
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
Expand Down Expand Up @@ -667,9 +667,9 @@ bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::msg::Plann
scene_ = parent_scene_->diff();
scene_const_ = scene_;
scene_->setAttachedBodyUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, _1, _2));
boost::bind(&PlanningSceneMonitor::currentStateAttachedBodyUpdateCallback, this, boost::placeholders::_1, boost::placeholders::_2));
scene_->setCollisionObjectUpdateCallback(
boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, _1, _2));
boost::bind(&PlanningSceneMonitor::currentWorldObjectUpdateCallback, this, boost::placeholders::_1, boost::placeholders::_2));
}
if (octomap_monitor_)
{
Expand Down Expand Up @@ -1174,7 +1174,7 @@ void PlanningSceneMonitor::startWorldGeometryMonitor(const std::string& collisio
excludeWorldObjectsFromOctree();

octomap_monitor_->setTransformCacheCallback(
boost::bind(&PlanningSceneMonitor::getShapeTransformCache, this, _1, _2, _3));
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();
Expand Down Expand Up @@ -1207,7 +1207,7 @@ 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);

{
Expand Down
13 changes: 7 additions & 6 deletions moveit_ros/robot_interaction/src/interaction_handler.cpp
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@@ -1,3 +1,4 @@

/*********************************************************************
* Software License Agreement (BSD License)
*
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -243,7 +244,7 @@ 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));
boost::bind(&InteractionHandler::updateStateEndEffector, this, boost::placeholders::_1, &eef, &tpose.pose, &callback));

// This calls update_callback_ to notify client that state changed.
if (callback)
Expand Down Expand Up @@ -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)
Expand All @@ -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!
Expand All @@ -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!
Expand All @@ -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
Expand Down
2 changes: 1 addition & 1 deletion moveit_ros/robot_interaction/src/robot_interaction.cpp
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Expand Up @@ -543,7 +543,7 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
{
int_marker_server_->insert(im);
int_marker_server_->setCallback(im.name,
boost::bind(&RobotInteraction::processInteractiveMarkerFeedback, this, _1));
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())
Expand Down
2 changes: 1 addition & 1 deletion moveit_ros/robot_interaction/test/locked_robot_state_test.cpp
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Expand Up @@ -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();
Expand Down
2 changes: 2 additions & 0 deletions moveit_ros/visualization/CMakeLists.txt
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Expand Up @@ -101,3 +101,5 @@ ament_export_dependencies(tf2_eigen)
ament_export_dependencies(Eigen3)
ament_export_dependencies(rviz_ogre_vendor)
ament_package()

include_directories("${OGRE_PREFIX_DIR}/include")
4 changes: 4 additions & 0 deletions moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
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Open in desktop
Expand Up @@ -13,14 +13,18 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}_core
moveit_msgs
pluginlib
Boost
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}")
target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core Qt5::Widgets)
ament_target_dependencies(${MOVEIT_LIB_NAME}
pluginlib
rviz_ogre_vendor
)
target_include_directories(${MOVEIT_LIB_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")

install(DIRECTORY include/ DESTINATION include)

Expand Down
2 changes: 1 addition & 1 deletion moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
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Expand Up @@ -542,7 +542,7 @@ void PlanningSceneDisplay::loadRobotModel()
{
planning_scene_monitor_.swap(psm);
planning_scene_monitor_->addUpdateCallback(
boost::bind(&PlanningSceneDisplay::sceneMonitorReceivedUpdate, this, _1));
boost::bind(&PlanningSceneDisplay::sceneMonitorReceivedUpdate, this, boost::placeholders::_1));
addMainLoopJob(boost::bind(&PlanningSceneDisplay::onRobotModelLoaded, this));
setStatus(rviz_common::properties::StatusProperty::Ok, "PlanningScene", "Planning Scene Loaded Successfully");
waitForAllMainLoopJobs();
Expand Down
4 changes: 4 additions & 0 deletions moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
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Open in desktop
Expand Up @@ -13,7 +13,9 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}_core
moveit_msgs
pluginlib
Boost
rviz_ogre_vendor
)
target_include_directories(${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}")
Expand All @@ -22,7 +24,9 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
rclcpp
pluginlib
Boost
rviz_ogre_vendor
)
target_include_directories(${MOVEIT_LIB_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")

install(DIRECTORY include/ DESTINATION include)

Expand Down
2 changes: 2 additions & 0 deletions moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
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Open in desktop
Expand Up @@ -37,7 +37,9 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
moveit_core
Boost
octomap_msgs
rviz_ogre_vendor
)
target_include_directories(${MOVEIT_LIB_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")

install(DIRECTORY include/ DESTINATION include)

Expand Down
4 changes: 4 additions & 0 deletions moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
View file
Open in desktop
Expand Up @@ -25,7 +25,9 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}_core
moveit_msgs
pluginlib
Boost
rviz_ogre_vendor
)
target_include_directories(${MOVEIT_LIB_NAME}_core PRIVATE "${OGRE_PREFIX_DIR}/include")

# Plugin Initializer
add_library(${MOVEIT_LIB_NAME} SHARED src/plugin_init.cpp)
Expand All @@ -35,7 +37,9 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
rclcpp
pluginlib
Boost
rviz_ogre_vendor
)
target_include_directories(${MOVEIT_LIB_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")

install(DIRECTORY include/ DESTINATION include)

Expand Down