Update renamed dependency

[christophfroehlich]

Description

hpp-fcl was renamed to coal, see https://github.com/coal-library/coal/blob/devel/README.md
To confirm, the old git repo is redirected to the new org/repo https://github.com/humanoid-path-planner/hpp-fcl.git

As it was not removed from rosdisto, rosdep installs the old dependency.

$ sudo apt list |grep hpp-fcl

ros-jazzy-hpp-fcl-dbgsym/noble 2.4.5-1noble.20251014.183513 amd64
ros-jazzy-hpp-fcl/noble 2.4.5-1noble.20251014.183513 amd64
ros-kilted-hpp-fcl-dbgsym/noble 2.4.5-2noble.20251014.170938 amd64
ros-kilted-hpp-fcl/noble 2.4.5-2noble.20251014.170938 amd64
ros-rolling-hpp-fcl-dbgsym/noble 2.4.5-1noble.20251014.170731 amd64
ros-rolling-hpp-fcl/noble 2.4.5-1noble.20251014.170731 amd64 

$ sudo apt list |grep coal

ros-jazzy-coal-dbgsym/noble 3.0.2-1noble.20251014.185600 amd64
ros-jazzy-coal/noble 3.0.2-1noble.20251014.185600 amd64
ros-kilted-coal-dbgsym/noble 3.0.2-1noble.20251015.151509 amd64
ros-kilted-coal/noble 3.0.2-1noble.20251015.151509 amd64
ros-rolling-coal-dbgsym/noble 3.0.2-1noble.20251014.185949 amd64
ros-rolling-coal/noble 3.0.2-1noble.20251014.185949 amd64

Checklist

• I have run pre-commit run --all-files or pixi run lint
• I have performed a self-review of my own code
• I have commented my code where necessary
• I have made corresponding changes to the doxygen documentation
• I have added tests that prove my fix or feature works
• I have updated the CHANGELOG or added the "no changelog" label if it's a CI-related issue
• I have updated the README credits section

[github-actions]

👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
The possible extra labels are:

• build_collision (build Pinocchio with coal support)
• build_casadi (build Pinocchio with CasADi support)
• build_autodiff (build Pinocchio with CppAD support)
• build_codegen (build Pinocchio with CppADCodeGen support)
• build_extra (build Pinocchio with extra algorithms)
• build_mpfr (build Pinocchio with Boost.Multiprecision support)
• build_sdf (build Pinocchio with SDF parser)
• build_accelerate (build Pinocchio with APPLE Accelerate framework support)
• build_all (build Pinocchio with ALL the options stated above)

Thanks.
The Pinocchio development team.

[nim65s]

Wow, yes, that was forgotten, thanks !

[nim65s]

Can you just add a changelog entry ?
(and maybe rebase on the current devel ?)

[jorisv]

@nim65s Did the ros coal package is build with COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL ?

[nim65s]

Hum, not yet, you are right.
And if we do, people with installed ros-hpp-fcf & ros-coal will have an issuse.
And I don't know how to explain ROS that ros-hpp-fcf & ros-coal are mutually exclusive

[nim65s]

I guess the easiest solution is to wait for pinocchio to use coal instead of hpp-fcl.

[nim65s]

@christophfroehlich : do you have a specific need for coal instead of hpp-fcl ?
If not I think we should wait for pinocchio v4 to be ready to do this change

[christophfroehlich]

No I actually don't need it, why this issue came up is: I currently update the ros-controls debian docker images for our CI to include pinocchio. On debian I have to build everything from source, so I have to add all the dependencies to the repos file. I saw on index.ros.org that the hpp-fcl is not linked or released on rolling. So I looked for the reason and found the renamed package.

Sorry for not checking the content of the package earlier, actually obvious that at least the include paths would have changed ;) But why is your CI in this PR happy then (haven't looked into detail)?

[nim65s]

tbh we were also surprised about that green CI. That is probably because of that OFF here:

pinocchio/CMakeLists.txt

Line 131 in 0b10a13

"Build the library with the collision support (required HPP-FCL)" OFF)

We'll discuss about this in our next meeting.

[christophfroehlich]

tbh we were also surprised about that green CI. That is probably because of that OFF here:

pinocchio/CMakeLists.txt

Line 131 in 0b10a13

"Build the library with the collision support (required HPP-FCL)" OFF)

We'll discuss about this in our next meeting.

I'm not sure why cmake complained in my build, I only added -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF.

 #16 1546.7 CMake Error at cmake/package-config.cmake:133 (find_package):
#16 1546.7   By not providing "Findhpp-fcl.cmake" in CMAKE_MODULE_PATH this project has
#16 1546.7   asked CMake to find a package configuration file provided by "hpp-fcl", but
#16 1546.7   CMake did not find one.
#16 1546.7 
#16 1546.7   Could not find a package configuration file provided by "hpp-fcl" with any
#16 1546.7   of the following names:
#16 1546.7 
#16 1546.7     hpp-fclConfig.cmake
#16 1546.7     hpp-fcl-config.cmake

why is this triggered here? 🤔

pinocchio/CMakeLists.txt

Lines 343 to 346 in 2a7eebc

	if(BUILD_WITH_HPP_FCL_SUPPORT)
	set(COAL_DISABLE_HPP_FCL_WARNINGS ON)
	add_project_dependency(hpp-fcl REQUIRED)
	endif()

After explicitly setting -DBUILD_WITH_COLLISION_SUPPORT=OFF -DBUILD_WITH_HPP_FCL_SUPPORT=OFF it works.

[nim65s]

Are you using https://github.com/stack-of-tasks/pinocchio or https://github.com/ros2-gbp/pinocchio-release ? Because on the later there is a patch to enable collision support

[christophfroehlich]

This is a good hint: I use rosinstall_generator without the upstream flag, this is why it uses the release repo.