Enforce liboctomap-dev by using a cmake version range

moveit · Jun 7, 2024 · 4082252 · 4082252
1 parent 578572f
commit 4082252
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Showing 8 changed files with 25 additions and 9 deletions.
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -18,7 +18,9 @@ find_package(geometric_shapes REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(kdl_parser REQUIRED)
 find_package(moveit_msgs REQUIRED)
-find_package(OCTOMAP REQUIRED)
+# Enforce using system version liboctomap-dev
+# See https://github.com/moveit/moveit2/issues/2862
+find_package(octomap 1.9.7...<1.10.0 REQUIRED)
 find_package(octomap_msgs REQUIRED)
 find_package(osqp REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -114,7 +116,7 @@ ament_export_dependencies(
   geometry_msgs
   kdl_parser
   moveit_msgs
-  OCTOMAP
+  octomap
   octomap_msgs
   osqp
   pluginlib

diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
@@ -28,7 +28,7 @@ ament_target_dependencies(
   visualization_msgs
   tf2_eigen
   geometric_shapes
-  OCTOMAP)
+  octomap)
 target_include_directories(
   moveit_collision_detection BEFORE
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)

diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt
@@ -16,7 +16,7 @@ set_target_properties(moveit_collision_distance_field
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 ament_target_dependencies(moveit_collision_distance_field urdf
-                          visualization_msgs tf2_eigen geometric_shapes OCTOMAP)
+                          visualization_msgs tf2_eigen geometric_shapes octomap)
 
 target_link_libraries(
   moveit_collision_distance_field moveit_planning_scene moveit_distance_field
@@ -34,7 +34,7 @@ if(BUILD_TESTING)
   ament_add_gtest(test_collision_distance_field
                   test/test_collision_distance_field.cpp)
   ament_target_dependencies(test_collision_distance_field geometric_shapes
-                            OCTOMAP srdfdom resource_retriever)
+                            octomap srdfdom resource_retriever)
   target_link_libraries(
     test_collision_distance_field
     moveit_collision_distance_field

diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt
@@ -17,7 +17,7 @@ ament_target_dependencies(
   visualization_msgs
   geometric_shapes
   tf2_eigen
-  OCTOMAP)
+  octomap)
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 
@@ -28,5 +28,5 @@ if(BUILD_TESTING)
   target_link_libraries(test_voxel_grid moveit_distance_field)
 
   ament_add_gtest(test_distance_field test/test_distance_field.cpp)
-  target_link_libraries(test_distance_field moveit_distance_field)
+  target_link_libraries(test_distance_field moveit_distance_field octomap)
 endif()
diff --git a/moveit_core/package.xml b/moveit_core/package.xml
@@ -41,7 +41,13 @@
   <depend>libfcl-dev</depend>
   <depend>moveit_common</depend>
   <depend>moveit_msgs</depend>
+  <!--
+  Temporarily disable octomap dependency because of
+  version conflict. We use liboctomap-dev provided
+  by libfcl-dev.
+  See https://github.com/moveit/moveit2/issues/2862
   <depend>octomap</depend>
+  -->
   <depend>octomap_msgs</depend>
   <depend>osqp_vendor</depend>
   <depend>pluginlib</depend>

diff --git a/moveit_core/planning_scene/CMakeLists.txt b/moveit_core/planning_scene/CMakeLists.txt
@@ -17,7 +17,7 @@ ament_target_dependencies(
   urdfdom
   urdfdom_headers
   octomap_msgs
-  OCTOMAP)
+  octomap)
 
 target_link_libraries(
   moveit_planning_scene

diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -13,7 +13,9 @@ find_package(moveit_core REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(octomap REQUIRED)
+# Enforce using system version liboctomap-dev
+# See https://github.com/moveit/moveit2/issues/2862
+find_package(octomap 1.9.7...<1.10.0 REQUIRED)
 find_package(geometric_shapes REQUIRED)
 find_package(tf2_ros REQUIRED)
 

diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml
@@ -26,7 +26,13 @@
   <depend>rclcpp</depend>
   <depend>moveit_core</depend>
   <depend>moveit_msgs</depend>
+  <!--
+  Temporarily disable octomap dependency because of
+  version conflict. We use liboctomap-dev provided
+  by moveit_core->libfcl-dev.
+  See https://github.com/moveit/moveit2/issues/2862
   <depend>octomap</depend>
+  -->
   <depend version_gte="1.11.2">pluginlib</depend>
   <depend>tf2_ros</depend>
   <depend>geometric_shapes</depend>