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Kyle/py6 #7

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62233e4
ability to force python version
Jun 13, 2025
ea8daad
differentiate based on py ver
Jun 15, 2025
93ec829
try to tweak export
Jun 15, 2025
ae991c9
oops
Jun 15, 2025
2f3c745
don't bother exporting this
Jun 15, 2025
29a905d
fix missing inculde
Jun 16, 2025
dd08430
attempt to shim libeigen
Jun 16, 2025
237031b
fixes
Jun 16, 2025
cc61a68
no longer need to worry about eigenpy diffs
Jun 16, 2025
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2 changes: 2 additions & 0 deletions ...processing/include/moveit/trajectory_processing/iterative_torque_limit_parameterization.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@

#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>

#include <unordered_map>

namespace trajectory_processing
{
class IterativeTorqueLimitParameterization
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15 changes: 13 additions & 2 deletions moveit_ros/planning_interface/CMakeLists.txt
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Expand Up @@ -28,7 +28,7 @@ find_package(catkin REQUIRED COMPONENTS
rosconsole
)

find_package(PythonInterp REQUIRED)
find_package(PythonInterp ${CHEF_FORCE_PYTHON_VERSION} REQUIRED)
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@chef-kyle chef-kyle Jun 17, 2025

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FORCE_PYTHON_VERSION isn't strictly necessary, but helps make it obvious when you need to wipe the build dir

find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED)

find_package(Boost REQUIRED)
Expand All @@ -46,8 +46,11 @@ find_package(Boost REQUIRED COMPONENTS
system
thread
)


find_package(Eigen3 REQUIRED)
find_package(eigenpy REQUIRED)
# TODO: probably need different eigenpy
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@chef-kyle chef-kyle Jun 17, 2025

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This is done


set(THIS_PACKAGE_INCLUDE_DIRS
py_bindings_tools/include
Expand All @@ -58,13 +61,19 @@ set(THIS_PACKAGE_INCLUDE_DIRS
)

catkin_python_setup()
# Set boost_python_component if needed

if("${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}" EQUAL "37")
set(Boost_PYTHON_LIBRARY "/usr/local/lib/libboost_python3.so")
set(Boost_LIBRARIES "${Boost_PYTHON_LIBRARY}")
endif()
link_directories("/usr/local/lib")
catkin_package(
LIBRARIES
moveit_common_planning_interface_objects
moveit_planning_scene_interface
moveit_move_group_interface
moveit_py_bindings_tools
# moveit_py_bindings_tools_py${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}
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@chef-kyle chef-kyle Jun 17, 2025

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I can't figure out the proper syntax to export this, but we don't need to anyhow

moveit_cpp
INCLUDE_DIRS
${THIS_PACKAGE_INCLUDE_DIRS}
Expand All @@ -82,6 +91,8 @@ catkin_package(
EIGEN3
)

list(REMOVE_ITEM catkin_LIBRARIES /usr/lib/x86_64-linux-gnu/libpython2.7.so)

include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS})
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2 changes: 2 additions & 0 deletions moveit_ros/planning_interface/py_bindings_tools/CMakeLists.txt
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@@ -1,8 +1,10 @@
set(MOVEIT_LIB_NAME moveit_py_bindings_tools)

add_library(${MOVEIT_LIB_NAME} src/roscpp_initializer.cpp)

set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES OUTPUT_NAME moveit_py_bindings_tools_py${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}.so )
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@chef-kyle chef-kyle Jun 17, 2025

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If we remove the boost::python dev from this library, we likely don't need to rename it


install(TARGETS ${MOVEIT_LIB_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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