Skip to content

Commit 5aba98e

Browse files
Levi-ArmstrongLevi-Armstrong
committed
Tesseract single cmake project consolidation
1 parent 1fc9e77 commit 5aba98e

File tree

62 files changed

+262
-291
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

62 files changed

+262
-291
lines changed

‎tesseract_monitoring/CMakeLists.txt‎

Lines changed: 5 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,7 @@ find_package(ros_industrial_cmake_boilerplate REQUIRED)
55
extract_package_metadata(pkg)
66
project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
77

8-
find_package(tesseract_environment REQUIRED)
9-
find_package(tesseract_common REQUIRED)
8+
find_package(tesseract REQUIRED COMPONENTS environment common)
109
find_package(tesseract_rosutils REQUIRED)
1110
find_package(orocos_kdl REQUIRED)
1211
find_package(Eigen3 REQUIRED)
@@ -26,7 +25,7 @@ tesseract_variables()
2625

2726
# Tesseract ROS Nodes
2827
add_library(${PROJECT_NAME}_environment SHARED src/environment_monitor.cpp src/current_state_monitor.cpp)
29-
target_link_libraries(${PROJECT_NAME}_environment PUBLIC tesseract::tesseract_common tesseract::tesseract_environment tesseract::tesseract_rosutils ${catkin_LIBRARIES} ${Boost_LIBRARIES})
28+
target_link_libraries(${PROJECT_NAME}_environment PUBLIC tesseract::common tesseract::environment tesseract::tesseract_rosutils ${catkin_LIBRARIES} ${Boost_LIBRARIES})
3029
target_compile_options(${PROJECT_NAME}_environment PRIVATE ${TESSERACT_COMPILE_OPTIONS})
3130
target_clang_tidy(${PROJECT_NAME}_environment ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
3231
target_cxx_version(${PROJECT_NAME}_environment PUBLIC VERSION 17)
@@ -42,7 +41,7 @@ target_include_directories(${PROJECT_NAME}_environment_node PUBLIC "$<BUILD_INTE
4241
target_include_directories(${PROJECT_NAME}_environment_node SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
4342

4443
add_library(${PROJECT_NAME}_contacts src/contact_monitor.cpp)
45-
target_link_libraries(${PROJECT_NAME}_contacts PUBLIC tesseract::tesseract_common tesseract::tesseract_environment tesseract::tesseract_rosutils ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
44+
target_link_libraries(${PROJECT_NAME}_contacts PUBLIC tesseract::common tesseract::environment tesseract::tesseract_rosutils ${PROJECT_NAME}_environment ${catkin_LIBRARIES})
4645
target_compile_options(${PROJECT_NAME}_contacts PRIVATE ${TESSERACT_COMPILE_OPTIONS})
4746
target_clang_tidy(${PROJECT_NAME}_contacts ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
4847
target_cxx_version(${PROJECT_NAME}_contacts PUBLIC VERSION 17)
@@ -58,7 +57,7 @@ target_include_directories(${PROJECT_NAME}_contacts_node PRIVATE "$<BUILD_INTERF
5857
target_include_directories(${PROJECT_NAME}_contacts_node SYSTEM PRIVATE ${catkin_INCLUDE_DIRS})
5958

6059
add_library(${PROJECT_NAME}_environment_interface SHARED src/environment_monitor_interface.cpp)
61-
target_link_libraries(${PROJECT_NAME}_environment_interface PUBLIC tesseract::tesseract_common tesseract::tesseract_environment tesseract::tesseract_rosutils ${catkin_LIBRARIES})
60+
target_link_libraries(${PROJECT_NAME}_environment_interface PUBLIC tesseract::common tesseract::environment tesseract::tesseract_rosutils ${catkin_LIBRARIES})
6261
target_compile_options(${PROJECT_NAME}_environment_interface PRIVATE ${TESSERACT_COMPILE_OPTIONS})
6362
target_clang_tidy(${PROJECT_NAME}_environment_interface ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
6463
target_cxx_version(${PROJECT_NAME}_environment_interface PUBLIC VERSION 17)
@@ -94,8 +93,7 @@ configure_package(
9493
DEPENDENCIES
9594
Eigen3
9695
orocos_kdl
97-
tesseract_common
98-
tesseract_environment
96+
"tesseract COMPONENTS common environment"
9997
tesseract_rosutils
10098
"catkin REQUIRED COMPONENTS roscpp tesseract_msgs dynamic_reconfigure pluginlib tf2_ros tf2_eigen visualization_msgs"
10199
)

‎tesseract_monitoring/demos/demo_scene.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@
3434

3535
/* Author: Ioan Sucan */
3636

37-
#include <tesseract_common/macros.h>
37+
#include <tesseract/common/macros.h>
3838
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
3939
#include <ros/console.h>
4040
#include <tesseract_msgs/EnvironmentState.h>

‎tesseract_monitoring/include/tesseract_monitoring/contact_monitor.h‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -28,15 +28,15 @@
2828
#ifndef TESSERACT_MONITORING_CONTACT_MONITOR_H
2929
#define TESSERACT_MONITORING_CONTACT_MONITOR_H
3030

31-
#include <tesseract_common/macros.h>
31+
#include <tesseract/common/macros.h>
3232
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
3333
#include <memory>
3434
#include <vector>
3535
TESSERACT_COMMON_IGNORE_WARNINGS_POP
3636

3737
#include <tesseract_monitoring/constants.h>
38-
#include <tesseract_collision/core/fwd.h>
39-
#include <tesseract_environment/fwd.h>
38+
#include <tesseract/collision/fwd.h>
39+
#include <tesseract/environment/fwd.h>
4040

4141
namespace ros
4242
{

‎tesseract_monitoring/include/tesseract_monitoring/current_state_monitor.h‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -37,16 +37,16 @@
3737
#ifndef TESSERACT_MONITORING_CURRENT_STATE_H
3838
#define TESSERACT_MONITORING_CURRENT_STATE_H
3939

40-
#include <tesseract_common/macros.h>
40+
#include <tesseract/common/macros.h>
4141
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
4242
#include <memory>
4343
#include <functional>
4444
#include <vector>
4545
#include <unordered_map>
4646
TESSERACT_COMMON_IGNORE_WARNINGS_POP
4747

48-
#include <tesseract_environment/fwd.h>
49-
#include <tesseract_scene_graph/fwd.h>
48+
#include <tesseract/environment/fwd.h>
49+
#include <tesseract/scene_graph/fwd.h>
5050

5151
namespace ros
5252
{

‎tesseract_monitoring/include/tesseract_monitoring/environment_monitor.h‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -37,13 +37,13 @@
3737
#ifndef TESSERACT_MONITORING_ENVIRONMENT_H
3838
#define TESSERACT_MONITORING_ENVIRONMENT_H
3939

40-
#include <tesseract_common/macros.h>
40+
#include <tesseract/common/macros.h>
4141
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
4242
#include <memory>
4343
TESSERACT_COMMON_IGNORE_WARNINGS_POP
4444

4545
#include <tesseract_monitoring/constants.h>
46-
#include <tesseract_environment/environment_monitor.h>
46+
#include <tesseract/environment/environment_monitor.h>
4747

4848
namespace tesseract_monitoring
4949
{

‎tesseract_monitoring/include/tesseract_monitoring/environment_monitor_interface.h‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -25,12 +25,12 @@
2525
#ifndef TESSERACT_MONITORING_ENVIRONMENT_MONITOR_INTERFACE_H
2626
#define TESSERACT_MONITORING_ENVIRONMENT_MONITOR_INTERFACE_H
2727

28-
#include <tesseract_common/macros.h>
28+
#include <tesseract/common/macros.h>
2929
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
3030
#include <vector>
3131
TESSERACT_COMMON_IGNORE_WARNINGS_POP
3232

33-
#include <tesseract_environment/environment_monitor_interface.h>
33+
#include <tesseract/environment/environment_monitor_interface.h>
3434

3535
namespace tesseract_monitoring
3636
{

‎tesseract_monitoring/package.xml‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -12,10 +12,9 @@
1212
<build_export_depend>roscpp</build_export_depend>
1313
<exec_depend>roscpp</exec_depend>
1414

15-
<depend>tesseract_environment</depend>
15+
<depend>tesseract</depend>
1616
<depend>tesseract_rosutils</depend>
1717
<depend>tesseract_msgs</depend>
18-
<depend>tesseract_common</depend>
1918

2019
<build_depend>ros_industrial_cmake_boilerplate</build_depend>
2120

‎tesseract_monitoring/src/contact_monitor.cpp‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -28,7 +28,7 @@
2828
#include <tesseract_monitoring/contact_monitor.h>
2929
#include <tesseract_monitoring/environment_monitor.h>
3030

31-
#include <tesseract_common/macros.h>
31+
#include <tesseract/common/macros.h>
3232
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
3333
#include <ros/node_handle.h>
3434
#include <sensor_msgs/JointState.h>
@@ -44,12 +44,12 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
4444
#include <tesseract_rosutils/plotting.h>
4545
#include <tesseract_monitoring/constants.h>
4646

47-
#include <tesseract_common/contact_allowed_validator.h>
48-
#include <tesseract_collision/core/discrete_contact_manager.h>
49-
#include <tesseract_scene_graph/scene_state.h>
50-
#include <tesseract_environment/environment.h>
51-
#include <tesseract_environment/environment_monitor.h>
52-
#include <tesseract_visualization/markers/contact_results_marker.h>
47+
#include <tesseract/common/contact_allowed_validator.h>
48+
#include <tesseract/collision/discrete_contact_manager.h>
49+
#include <tesseract/scene_graph/scene_state.h>
50+
#include <tesseract/environment/environment.h>
51+
#include <tesseract/environment/environment_monitor.h>
52+
#include <tesseract/visualization/markers/contact_results_marker.h>
5353

5454
namespace tesseract_monitoring
5555
{

‎tesseract_monitoring/src/contact_monitor_node.cpp‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -25,18 +25,18 @@
2525

2626
#include <tesseract_monitoring/contact_monitor.h>
2727

28-
#include <tesseract_common/macros.h>
28+
#include <tesseract/common/macros.h>
2929
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
3030
#include <ros/node_handle.h>
3131
#include <boost/thread/thread.hpp>
3232
#include <boost/algorithm/string.hpp>
3333
TESSERACT_COMMON_IGNORE_WARNINGS_POP
3434

35-
#include <tesseract_common/resource_locator.h>
36-
#include <tesseract_environment/environment.h>
37-
#include <tesseract_scene_graph/graph.h>
38-
#include <tesseract_srdf/srdf_model.h>
39-
#include <tesseract_urdf/urdf_parser.h>
35+
#include <tesseract/common/resource_locator.h>
36+
#include <tesseract/environment/environment.h>
37+
#include <tesseract/scene_graph/graph.h>
38+
#include <tesseract/srdf/srdf_model.h>
39+
#include <tesseract/urdf/urdf_parser.h>
4040
#include <tesseract_rosutils/utils.h>
4141

4242
// Stuff for the contact monitor

‎tesseract_monitoring/src/current_state_monitor.cpp‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@
3434

3535
/* Author: Ioan Sucan */
3636

37-
#include <tesseract_common/macros.h>
37+
#include <tesseract/common/macros.h>
3838
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
3939
#include <ros/console.h>
4040
#include <ros/node_handle.h>
@@ -56,10 +56,10 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
5656

5757
#include <tesseract_monitoring/current_state_monitor.h>
5858

59-
#include <tesseract_kinematics/core/joint_group.h>
60-
#include <tesseract_scene_graph/joint.h>
61-
#include <tesseract_scene_graph/scene_state.h>
62-
#include <tesseract_environment/environment.h>
59+
#include <tesseract/kinematics/joint_group.h>
60+
#include <tesseract/scene_graph/joint.h>
61+
#include <tesseract/scene_graph/scene_state.h>
62+
#include <tesseract/environment/environment.h>
6363

6464
namespace tesseract_monitoring
6565
{

0 commit comments

Comments
 (0)