Merged ros-industrial-attic#63 from main repo. Fixed small warnings.

sjulier · sjulier · commit 3cc008148849 · 2023-04-05T10:12:31.000+01:00
diff --git a/base_placement_plugin/CMakeLists.txt b/base_placement_plugin/CMakeLists.txt
@@ -1,5 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 
+cmake_policy(SET CMP0048 NEW)
 project(base_placement_plugin)
 
 # Load catkin and all dependencies required for this package
@@ -20,16 +21,25 @@ find_package(catkin REQUIRED COMPONENTS
   moveit_core
 )
 
-find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
-
-include(${QT_USE_FILE})
 
+if(rviz_QT_VERSION VERSION_LESS "5")
+  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+  ## pull in all required include dirs, define QT_LIBRARIES, etc.
+  include(${QT_USE_FILE})
+else()
+  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets Concurrent)
+  ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
+  set(QT_LIBRARIES Qt5::Widgets Qt5::Concurrent)
+endif()
+find_package(HDF5 REQUIRED)
 
 add_definitions(-DQT_NO_KEYWORDS)
 
 
 add_library(create_marker  src/create_marker.cpp)
-target_link_libraries(create_marker  ${catkin_LIBRARIES} )
+target_link_libraries(create_marker ${QT_LIBRARIES} ${catkin_LIBRARIES} )
 
 set(base_placement_plugin_SRCS
   src/add_way_point.cpp
@@ -77,12 +87,17 @@ catkin_package(
   map_creator
 )
 
-qt4_wrap_cpp(base_placement_plugin_MOCS ${base_placement_plugin_HDRS} )
-qt4_wrap_ui(base_placement_plugin_UIS_H ${base_placement_plugin_UIS} )
+if(rviz_QT_VERSION VERSION_LESS "5")
+  qt4_wrap_cpp(base_placement_plugin_MOCS ${base_placement_plugin_HDRS} )
+  qt4_wrap_ui(base_placement_plugin_UIS_H ${base_placement_plugin_UIS} )
+else()
+  qt5_wrap_cpp(base_placement_plugin_MOCS ${base_placement_plugin_HDRS} )
+  qt5_wrap_ui(base_placement_plugin_UIS_H ${base_placement_plugin_UIS} )
+endif()
 
-include_directories(${base_placement_plugin_INCLUDE_DIRECTORIES} ${catkin_INCLUDE_DIRS})
+include_directories(${base_placement_plugin_INCLUDE_DIRECTORIES} ${catkin_INCLUDE_DIRS} ${HDF5_INCLUDE_DIRS})
 add_library(${PROJECT_NAME} ${base_placement_plugin_SRCS} ${base_placement_plugin_MOCS} ${base_placement_plugin_UIS_H}) # ${base_placement_plugin_UIS_H}
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY}  yaml-cpp -lhdf5 -lhdf5_cpp  create_marker)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} ${QT_LIBRARIES} yaml-cpp ${HDF5_LIBRARIES} create_marker)
 ## target_link_libraries(${PROJECT_NAME} yaml-cpp)
 
 
diff --git a/base_placement_plugin/include/base_placement_plugin/create_marker.h b/base_placement_plugin/include/base_placement_plugin/create_marker.h
@@ -9,14 +9,19 @@
 #include <Eigen/Eigen>
 #include <eigen_conversions/eigen_msg.h>
 
-#include<moveit/move_group_interface/move_group.h>
 #include<moveit/robot_state/robot_state.h>
 
 #include<moveit/robot_model_loader/robot_model_loader.h>
 #include<moveit/robot_model/robot_model.h>
 #include<moveit/robot_model/joint_model_group.h>
 #include<moveit/robot_model/link_model.h>
-
+#if ROS_VERSION_MINIMUM(1,12,0)
+    #include <moveit/move_group_interface/move_group_interface.h>
+    typedef moveit::planning_interface::MoveGroupInterface MoveGroupInterface;
+#else
+    #include <moveit/move_group_interface/move_group.h>
+    typedef moveit::planning_interface::MoveGroup MoveGroupInterface;
+#endif
 
 typedef std::multimap<std::vector<double>,geometry_msgs::Pose> BasePoseJoint;
 
@@ -52,7 +57,7 @@ class CreateMarker{
 
   std::string group_name_;
   ros::AsyncSpinner spinner;
-  boost::scoped_ptr<moveit::planning_interface::MoveGroup> group_;
+  boost::scoped_ptr<MoveGroupInterface> group_;
   std::string parent_link;
   moveit::core::RobotModelConstPtr robot_model_; //Robot model const pointer
 };
diff --git a/base_placement_plugin/include/base_placement_plugin/place_base.h b/base_placement_plugin/include/base_placement_plugin/place_base.h
@@ -8,8 +8,14 @@
 #include<base_placement_plugin/create_marker.h>
 
 #include<moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include<moveit/move_group_interface/move_group.h>
 #include<moveit/robot_model_loader/robot_model_loader.h>
+#if ROS_VERSION_MINIMUM(1,12,0)
+    #include <moveit/move_group_interface/move_group_interface.h>
+    typedef moveit::planning_interface::MoveGroupInterface MoveGroupInterface;
+#else
+    #include <moveit/move_group_interface/move_group.h>
+    typedef moveit::planning_interface::MoveGroup MoveGroupInterface;
+#endif
 #include<moveit/robot_model/robot_model.h>
 #include<moveit/robot_model/joint_model_group.h>
 #include<moveit/robot_state/robot_state.h>
@@ -19,7 +25,12 @@
 
 #include <QObject>
 #include <QTimer>
+#if QT_VERSION < 0x050000
+#error oh dear
 #include <QtConcurrentRun>
+#else
+#include <QtConcurrent>
+#endif
 #include <QFuture>
 
 #ifndef PLACE_BASE_H_
diff --git a/base_placement_plugin/plugin.xml b/base_placement_plugin/plugin.xml
@@ -1,7 +1,7 @@
 <library path="lib/libbase_placement_plugin">
   <class name="base_placement_plugin/Base Placement Plug-in"
          type="base_placement_plugin::AddWayPoint"
-         base_class_type="rviz::Panel">
+         base_class_type="rviz::Panel"/>
     <description>
       Tool for visualizing base placement methods
     </description>
diff --git a/base_placement_plugin/src/create_marker.cpp b/base_placement_plugin/src/create_marker.cpp
@@ -10,7 +10,7 @@ double unifRand()
 CreateMarker::CreateMarker(std::string group_name) : spinner(1), group_name_(group_name)
 {
   spinner.start();
-  group_.reset(new moveit::planning_interface::MoveGroup(group_name_));
+  group_.reset(new MoveGroupInterface(group_name_));
   //ROS_INFO_STREAM("Selected planning group: "<< group_->getName());
   robot_model_ = group_->getRobotModel();
 }
diff --git a/base_placement_plugin/src/widgets/base_placement_widget.cpp b/base_placement_plugin/src/widgets/base_placement_widget.cpp
@@ -4,8 +4,8 @@
 
 #include <map_creator/hdf5_dataset.h>
 
-#include <H5Cpp.h>
-#include <hdf5.h>
+#include <hdf5/serial/H5Cpp.h>
+#include <hdf5/serial/hdf5.h>
 
 namespace base_placement_plugin
 {
diff --git a/map_creator/CMakeLists.txt b/map_creator/CMakeLists.txt
@@ -17,7 +17,9 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(octomap REQUIRED)
-
+find_package(HDF5 REQUIRED)
+find_package(MPI REQUIRED)
+find_package(LAPACK REQUIRED)
 add_message_files(
  FILES
  capShape.msg
@@ -44,15 +46,16 @@ catkin_package(
   CATKIN_DEPENDS message_runtime 
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS} ${HDF5_INCLUDE_DIR} ${PCL_INCLUDE_DIR})
+include_directories(include ${catkin_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS} ${HDF5_INCLUDE_DIRS} ${PCL_INCLUDE_DIR} 
+${MPI_CXX_INCLUDE_DIRS})
 
 add_library(sphere_discretization  src/sphere_discretization.cpp)
 add_library(kinematics  src/kinematics.cpp )
 add_library(hdf5_dataset  src/hdf5_dataset.cpp)
 
 target_link_libraries(sphere_discretization  ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARY_DIRS})
-target_link_libraries(kinematics  ${catkin_LIBRARIES} -llapack)
-target_link_libraries(hdf5_dataset  ${catkin_LIBRARIES} -lhdf5 -lhdf5_cpp)
+target_link_libraries(kinematics  ${catkin_LIBRARIES} ${LAPACK_LIBRARIES})
+target_link_libraries(hdf5_dataset  ${catkin_LIBRARIES} ${HDF5_LIBRARIES} ${MPI_CXX_LIBRARIES})
 
 install(TARGETS sphere_discretization kinematics hdf5_dataset
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/map_creator/include/map_creator/hdf5_dataset.h b/map_creator/include/map_creator/hdf5_dataset.h
@@ -1,7 +1,7 @@
 #ifndef HDF5_DATASET_H
 #define HDF5_DATASET_H
-#include "H5Cpp.h"
-#include <hdf5.h>
+#include <hdf5/serial/H5Cpp.h>
+#include <hdf5/serial/hdf5.h>
 #include <iostream>
 #include <ros/ros.h>
 
diff --git a/map_creator/include/map_creator/mh5_ikfast.cpp b/map_creator/include/map_creator/mh5_ikfast.cpp
@@ -20,6 +20,7 @@
 #define IKFAST_HAS_LIBRARY
 #include "ikfast.h"  // found inside share/openrave-X.Y/python/ikfast.h
 using namespace ikfast;
+using namespace std;
 
 // check if the included ikfast version matches what this file was compiled with
 #define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]
diff --git a/map_creator/maps/motoman_mh5_r0.08_reachability.h5 b/map_creator/maps/motoman_mh5_r0.08_reachability.h5
diff --git a/map_creator/src/create_capability_map.cpp b/map_creator/src/create_capability_map.cpp
@@ -11,7 +11,8 @@
 #include <sstream>
 #include <map_creator/sphere_discretization.h>
 #include <map_creator/kinematics.h>
-#include<map_creator/hdf5_dataset.h>
+#include <map_creator/hdf5_dataset.h>
+#include <boost/format.hpp>
 
 //struct stat st;
 
diff --git a/map_creator/src/create_inverse_reachability_map.cpp b/map_creator/src/create_inverse_reachability_map.cpp
@@ -25,6 +25,7 @@
 
 #include <string>
 #include <time.h>
+#include <boost/format.hpp>
 //struct stat st;
 
 int main(int argc, char **argv)
@@ -63,8 +64,8 @@ ros::init(argc, argv, "inverse_workspace");
       h5_res.open();
       h5_res.h5ToResolution(res);
       h5_res.close();
-      file =  str(boost::format("%s_r%d_Inv_reachability.h5") % k.getRobotName() % res);
-      filename = path + file;
+      file =  (boost::format("%s_r%d_Inv_reachability.h5") % k.getRobotName() % res).str();
+       filename = path + file;
     }
   }
 
diff --git a/map_creator/src/create_reachability_map.cpp b/map_creator/src/create_reachability_map.cpp
@@ -13,8 +13,8 @@
 #include <sstream>
 #include <map_creator/sphere_discretization.h>
 #include <map_creator/kinematics.h>
-#include<map_creator/hdf5_dataset.h>
-
+#include <map_creator/hdf5_dataset.h>
+#include <boost/format.hpp>
 //struct stat st;
 
 typedef std::vector<std::pair< std::vector< double >, const std::vector< double >* > > MultiVector;
diff --git a/map_creator/src/hdf5_dataset.cpp b/map_creator/src/hdf5_dataset.cpp
@@ -70,7 +70,7 @@ bool Hdf5Dataset::open()
 
   this->attr_ = H5Aopen(this->sphere_dataset_, "Resolution", H5P_DEFAULT);
   herr_t ret = H5Aread(this->attr_, H5T_NATIVE_FLOAT, &this->res_);
-
+  return true;
 }
 
 bool Hdf5Dataset::open_cap()
@@ -88,7 +88,7 @@ bool Hdf5Dataset::open_cap()
 
   this->attr_ = H5Aopen(this->capability_dataset_, "Resolution", H5P_DEFAULT);
   herr_t ret = H5Aread(this->attr_, H5T_NATIVE_FLOAT, &this->res_);
-
+  return true;
 }
 
 void Hdf5Dataset::close()
@@ -116,6 +116,7 @@ bool Hdf5Dataset::checkPath(std::string path)
     ROS_INFO("Path does not exist yet");
     //return false;
   }
+  return true;
 }
 
 void Hdf5Dataset::createPath(std::string path)
@@ -137,6 +138,7 @@ bool Hdf5Dataset::checkFileName(std::string filename)
     ROS_ERROR("Please provide an extension of .h5 It will make life easy");
     exit(1);
   }
+  return true;
 }
 
 bool Hdf5Dataset::saveCapMapsToDataset(VectorOfVectors &capability_data, float &resolution)
@@ -248,7 +250,7 @@ bool Hdf5Dataset::saveReachMapsToDataset( MultiMapPtr& poses,  MapVecDoublePtr&
   // Create Dataset Property list
   hid_t plist = H5Pcreate(H5P_DATASET_CREATE);
   H5Pset_layout(plist, H5D_CHUNKED);
-  hsize_t chunk_dims[ndims] = {chunk_size, ncols};
+  hsize_t chunk_dims[ndims] = {hsize_t(chunk_size), ncols};
   H5Pset_chunk(plist, ndims, chunk_dims);
 
 
@@ -288,7 +290,7 @@ bool Hdf5Dataset::saveReachMapsToDataset( MultiMapPtr& poses,  MapVecDoublePtr&
   // Selecting hyperslab on the dataset
   file_space = H5Dget_space(this->poses_dataset_);
   hsize_t start[2] = {0, 0};
-  hsize_t count[2] = {chunk_size, ncols};
+  hsize_t count[2] = {hsize_t(chunk_size), ncols};
   H5Sselect_hyperslab(file_space, H5S_SELECT_SET, start, NULL, count, NULL);
 
   // Writing buffer to the dataset
@@ -376,6 +378,7 @@ bool Hdf5Dataset::saveReachMapsToDataset( MultiMapPtr& poses,  MapVecDoublePtr&
   H5Sclose(file_space);
   H5Sclose(mem_space);
   close();
+  return true;
 }
 
 bool Hdf5Dataset::h5ToVectorCap(VectorOfVectors &capability_data)
@@ -458,6 +461,7 @@ bool Hdf5Dataset::h5ToMultiMapPoses(MultiMap& pose_col)
 {
   MapVecDouble sphere_col;
   h5ToMultiMapPoses(pose_col, sphere_col);
+  return true;
 }
 
 bool Hdf5Dataset::h5ToMultiMapPoses(MultiMap& pose_col, MapVecDouble& sphere_col)
diff --git a/workspace_visualization/CMakeLists.txt b/workspace_visualization/CMakeLists.txt
@@ -11,6 +11,8 @@ link_directories(${catkin_LIBRARY_DIRS})
 
 set(CMAKE_AUTOMOC ON)
 
+message(rviz_QT_VERSION=${rviz_QT_VERSION})
+
 if(rviz_QT_VERSION VERSION_LESS "5")
   message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
   find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)

Original file line number	Diff line number	Diff line change
`@@ -10,7 +10,7 @@ double unifRand()`
`10`	`10`	`CreateMarker::CreateMarker(std::string group_name) : spinner(1), group_name_(group_name)`
`11`	`11`	`{`
`12`	`12`	`spinner.start();`
`13`		`- group_.reset(new moveit::planning_interface::MoveGroup(group_name_));`
	`13`	`+ group_.reset(new MoveGroupInterface(group_name_));`
`14`	`14`	`//ROS_INFO_STREAM("Selected planning group: "<< group_->getName());`
`15`	`15`	`robot_model_ = group_->getRobotModel();`
`16`	`16`	`}`
Original file line number	Diff line number	Diff line change
`@@ -4,8 +4,8 @@`
`4`	`4`
`5`	`5`	`#include <map_creator/hdf5_dataset.h>`
`6`	`6`
`7`		`-#include <H5Cpp.h>`
`8`		`-#include <hdf5.h>`
	`7`	`+#include <hdf5/serial/H5Cpp.h>`
	`8`	`+#include <hdf5/serial/hdf5.h>`
`9`	`9`
`10`	`10`	`namespace base_placement_plugin`
`11`	`11`	`{`