Update to tesseract version 0.33.X (#279)

Author: Levi-Armstrong

dependencies.rosinstall

@@ -1,27 +1,27 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.7.3
+    version: 0.7.4
 - git:
     local-name: boost_plugin_loader
     uri: https://github.com/tesseract-robotics/boost_plugin_loader.git
-    version: 0.3.2
+    version: 0.4.2
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.32.0
+    version: 0.33.0
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
-    version: 0.32.0
+    version: 0.33.0
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.32.0
+    version: 0.33.0
 - git:
     local-name: tesseract_qt
     uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.32.0
+    version: 0.33.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git

dependencies_with_ext.rosinstall

@@ -1,31 +1,31 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.7.3
+    version: 0.7.4
 - git:
     local-name: boost_plugin_loader
     uri: https://github.com/tesseract-robotics/boost_plugin_loader.git
-    version: 0.3.2
+    version: 0.4.2
 - git:
     local-name: tesseract_ext
     uri: https://github.com/tesseract-robotics/tesseract_ext.git
     version: master
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.32.0
+    version: 0.33.0
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt_ros.git
-    version: 0.32.0
+    version: 0.33.0
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.32.0
+    version: 0.33.0
 - git:
     local-name: tesseract_qt
     uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.32.0
+    version: 0.33.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git

tesseract_planning_server/src/tesseract_planning_server.cpp

@@ -304,7 +304,7 @@ struct TesseractPlanningServer::Implementation
     // Generate DOT Graph if requested
     if (goal->request.dotgraph)
       result.response.dotgraph = planning_server->getTask(plan_future->context->name)
-                                     .getDotgraph(plan_future->context->task_infos.getInfoMap());
+                                     .getDotgraph(plan_future->context->task_infos->getInfoMap());
 
     try
     {

tesseract_rosutils/src/utils.cpp

@@ -1992,8 +1992,9 @@ bool fromMsg(tesseract_srdf::KinematicsInformation& kin_info, const tesseract_ms
 tesseract_common::KinematicsPluginInfo fromMsg(const tesseract_msgs::KinematicsPluginInfo& info_msg)
 {
   tesseract_common::KinematicsPluginInfo info;
-  info.search_paths.insert(info_msg.search_paths.begin(), info_msg.search_paths.end());
-  info.search_libraries.insert(info_msg.search_libraries.begin(), info_msg.search_libraries.end());
+  info.search_paths.insert(info.search_paths.end(), info_msg.search_paths.begin(), info_msg.search_paths.end());
+  info.search_libraries.insert(
+      info.search_libraries.end(), info_msg.search_libraries.begin(), info_msg.search_libraries.end());
 
   for (const auto& pair : info_msg.group_fwd_plugins)
   {
@@ -2017,8 +2018,9 @@ tesseract_common::KinematicsPluginInfo fromMsg(const tesseract_msgs::KinematicsP
 tesseract_common::ContactManagersPluginInfo fromMsg(const tesseract_msgs::ContactManagersPluginInfo& info_msg)
 {
   tesseract_common::ContactManagersPluginInfo info;
-  info.search_paths.insert(info_msg.search_paths.begin(), info_msg.search_paths.end());
-  info.search_libraries.insert(info_msg.search_libraries.begin(), info_msg.search_libraries.end());
+  info.search_paths.insert(info.search_paths.end(), info_msg.search_paths.begin(), info_msg.search_paths.end());
+  info.search_libraries.insert(
+      info.search_libraries.end(), info_msg.search_libraries.begin(), info_msg.search_libraries.end());
   info.discrete_plugin_infos.default_plugin = info_msg.discrete_plugin_container.default_plugin;
   info.discrete_plugin_infos.plugins = fromMsg(info_msg.discrete_plugin_container.plugins);
   info.continuous_plugin_infos.default_plugin = info_msg.continuous_plugin_container.default_plugin;

tesseract_rosutils/test/tesseract_rosutils_unit.cpp

@@ -139,8 +139,8 @@ TEST_F(TesseractROSUtilsUnit, KinematicsInformation)  // NOLINT
   gts["sander"] = p;
   kin_info.group_tcps["manipulator1"] = gts;
 
-  kin_info.kinematics_plugin_info.search_paths.insert("/usr/local/lib");
-  kin_info.kinematics_plugin_info.search_libraries.insert("tesseract_kdl_factories");
+  kin_info.kinematics_plugin_info.search_paths.emplace_back("/usr/local/lib");
+  kin_info.kinematics_plugin_info.search_libraries.emplace_back("tesseract_kdl_factories");
 
   {
     tesseract_common::PluginInfo info;