Switch to Cereal for serialization (#281)

Levi-Armstrong · web-flow · commit 3549feb226c9 · 2025-11-27T08:03:45.000-06:00
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
@@ -34,3 +34,7 @@
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
     version: 2.1.4
+- git:
+    local-name: cereal
+    uri: https://github.com/Levi-Armstrong/cereal.git
+    version: catkin
diff --git a/dependencies_unstable.rosinstall b/dependencies_unstable.rosinstall
@@ -34,3 +34,7 @@
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
     version: master
+- git:
+    local-name: cereal
+    uri: https://github.com/Levi-Armstrong/cereal.git
+    version: catkin
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
@@ -38,3 +38,7 @@
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
     version: 2.1.4
+- git:
+    local-name: cereal
+    uri: https://github.com/Levi-Armstrong/cereal.git
+    version: catkin
diff --git a/tesseract_monitoring/src/contact_monitor_node.cpp b/tesseract_monitoring/src/contact_monitor_node.cpp
@@ -32,6 +32,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/algorithm/string.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_srdf/srdf_model.h>
@@ -88,7 +89,7 @@ int main(int argc, char** argv)
   nh.getParam(robot_description + "_semantic", srdf_xml_string);
 
   auto env = std::make_unique<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
   {
     ROS_ERROR("Failed to initialize environment.");
diff --git a/tesseract_monitoring/src/environment_monitor.cpp b/tesseract_monitoring/src/environment_monitor.cpp
@@ -53,6 +53,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_msgs/GetEnvironmentInformation.h>
 #include <tesseract_msgs/SaveSceneGraph.h>
 
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/scene_state.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
@@ -150,7 +151,7 @@ struct ROSEnvironmentMonitor::Implementation
     root_nh.getParam(robot_description + "_semantic", srdf_xml_string);
 
     parent->env_ = std::make_shared<tesseract_environment::Environment>();
-    auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+    auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     if (!parent->env_->init(urdf_xml_string, srdf_xml_string, locator))
       return;
 
diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -72,7 +72,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_msgs/GetMotionPlanAction.h>
 
 #include <tesseract_common/profile_dictionary.h>
-#include <tesseract_common/serialization.h>
 #include <tesseract_common/any_poly.h>
 #include <tesseract_common/stopwatch.h>
 #include <tesseract_environment/environment.h>
@@ -82,6 +81,10 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/composite_instruction.h>
 #include <tesseract_command_language/constants.h>
 
+#include <tesseract_common/cereal_serialization.h>
+#include <tesseract_command_language/cereal_serialization.h>
+#include <tesseract_common/serialization.h>
+
 using tesseract_common::Serialization;
 using tesseract_planning::InstructionPoly;
 using tesseract_planning::TaskComposerDataStorage;
diff --git a/tesseract_qt_ros/src/widgets/environment_monitor_widget.cpp b/tesseract_qt_ros/src/widgets/environment_monitor_widget.cpp
@@ -32,6 +32,7 @@
 #include <tesseract_qt/common/environment_wrapper.h>
 #include <tesseract_qt/common/utils.h>
 
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_environment/command.h>
 
@@ -200,7 +201,7 @@ void EnvironmentMonitorWidget::onURDFDescriptionChanged()
   data_->nh->getParam(ui->urdf_param_line_edit->text().toStdString() + "_semantic", srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (env->init(urdf_xml_string, srdf_xml_string, locator))
   {
     if (data_->monitor != nullptr)
@@ -269,7 +270,7 @@ void EnvironmentMonitorWidget::snapshotCallback(const tesseract_msgs::Environmen
   tesseract_rosutils::fromMsg(jv, msg->joint_states);
   tesseract_rosutils::fromMsg(fjv, msg->floating_joint_states);
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   env->setResourceLocator(locator);
   if (env->init(commands))
   {
diff --git a/tesseract_ros_examples/src/basic_cartesian_example_node.cpp b/tesseract_ros_examples/src/basic_cartesian_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/basic_cartesian_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -76,7 +77,7 @@ int main(int argc, char** argv)
   }
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/car_seat_example_node.cpp b/tesseract_ros_examples/src/car_seat_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/car_seat_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -71,7 +72,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/freespace_hybrid_example_node.cpp b/tesseract_ros_examples/src/freespace_hybrid_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/freespace_hybrid_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -71,7 +72,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/freespace_ompl_example_node.cpp b/tesseract_ros_examples/src/freespace_ompl_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/freespace_ompl_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -71,7 +72,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/glass_upright_example_node.cpp b/tesseract_ros_examples/src/glass_upright_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/glass_upright_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -76,7 +77,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/glass_upright_ompl_example_node.cpp b/tesseract_ros_examples/src/glass_upright_ompl_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/glass_upright_ompl_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -73,7 +74,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/online_planning_example_node.cpp b/tesseract_ros_examples/src/online_planning_example_node.cpp
@@ -39,6 +39,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/online_planning_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -87,7 +88,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/pick_and_place_example_node.cpp b/tesseract_ros_examples/src/pick_and_place_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/pick_and_place_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -71,7 +72,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/puzzle_piece_auxillary_axes_example_node.cpp b/tesseract_ros_examples/src/puzzle_piece_auxillary_axes_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/puzzle_piece_auxillary_axes_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -71,7 +72,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/puzzle_piece_example_node.cpp b/tesseract_ros_examples/src/puzzle_piece_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/puzzle_piece_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -71,7 +72,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_ros_examples/src/scene_graph_example_node.cpp b/tesseract_ros_examples/src/scene_graph_example_node.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/scene_graph_example.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_monitoring/environment_monitor.h>
@@ -67,7 +68,7 @@ int main(int argc, char** argv)
   nh.getParam(ROBOT_SEMANTIC_PARAM, srdf_xml_string);
 
   auto env = std::make_shared<tesseract_environment::Environment>();
-  auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
+  auto locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   if (!env->init(urdf_xml_string, srdf_xml_string, locator))
     exit(1);
 
diff --git a/tesseract_rosutils/include/tesseract_rosutils/utils.h b/tesseract_rosutils/include/tesseract_rosutils/utils.h
@@ -28,8 +28,6 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <boost/serialization/access.hpp>
-#include <boost/serialization/export.hpp>
 #include <Eigen/Geometry>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
@@ -118,22 +116,6 @@ class Time;
 
 namespace tesseract_rosutils
 {
-std::string locateResource(const std::string& url);
-
-class ROSResourceLocator : public tesseract_common::ResourceLocator
-{
-public:
-  using Ptr = std::shared_ptr<ROSResourceLocator>;
-  using ConstPtr = std::shared_ptr<const ROSResourceLocator>;
-
-  std::shared_ptr<tesseract_common::Resource> locateResource(const std::string& url) const override final;
-
-private:
-  friend class boost::serialization::access;
-  template <class Archive>
-  void serialize(Archive& ar, const unsigned int version);  // NOLINT
-};
-
 bool isMsgEmpty(const sensor_msgs::JointState& msg);
 bool isMsgEmpty(const tesseract_msgs::TransformMap& msg);
 
@@ -522,6 +504,4 @@ tesseract_common::JointTrajectory fromMsg(const trajectory_msgs::JointTrajectory
 
 }  // namespace tesseract_rosutils
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_rosutils::ROSResourceLocator, "ROSResourceLocator")
-
 #endif
diff --git a/tesseract_rosutils/src/plotting.cpp b/tesseract_rosutils/src/plotting.cpp
@@ -44,14 +44,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_rosutils/conversions.h>
 
 #include <tesseract_common/joint_state.h>
-#include <tesseract_common/serialization.h>
 #include <tesseract_scene_graph/link.h>
 #include <tesseract_scene_graph/scene_state.h>
 #include <tesseract_environment/environment.h>
 
 #include <tesseract_command_language/composite_instruction.h>
 #include <tesseract_command_language/utils.h>
 
+#include <tesseract_command_language/cereal_serialization.h>
+#include <tesseract_common/serialization.h>
+
 #include <tesseract_motion_planners/core/utils.h>
 
 #include <tesseract_visualization/markers/arrow_marker.h>
diff --git a/tesseract_rosutils/src/utils.cpp b/tesseract_rosutils/src/utils.cpp
diff --git a/tesseract_rosutils/test/tesseract_rosutils_unit.cpp b/tesseract_rosutils/test/tesseract_rosutils_unit.cpp
diff --git a/tesseract_rviz/src/environment_monitor_properties.cpp b/tesseract_rviz/src/environment_monitor_properties.cpp
diff --git a/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp b/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp
