Update to Tesseract version 0.31.0 (#275)

Levi-Armstrong · web-flow · commit 63e79a4db372 · 2025-07-28T17:45:27.000-05:00
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
@@ -9,19 +9,19 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.30.0
+    version: 0.31.0
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
-    version: 0.30.0
+    version: 0.31.0
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.30.0
+    version: 0.31.0
 - git:
     local-name: tesseract_qt
     uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.30.0
+    version: 0.31.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
@@ -13,19 +13,19 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.30.0
+    version: 0.31.0
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt_ros.git
-    version: 0.30.0
+    version: 0.31.0
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.30.0
+    version: 0.31.0
 - git:
     local-name: tesseract_qt
     uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.30.0
+    version: 0.31.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
diff --git a/tesseract_rosutils/src/utils.cpp b/tesseract_rosutils/src/utils.cpp
@@ -138,7 +138,8 @@ std::shared_ptr<tesseract_common::Resource> ROSResourceLocator::locateResource(c
 template <class Archive>
 void ROSResourceLocator::serialize(Archive& ar, const unsigned int /*version*/)
 {
-  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(tesseract_common::ResourceLocator);
+  ar& boost::serialization::make_nvp("ResourceLocator",
+                                     boost::serialization::base_object<tesseract_common::ResourceLocator>(*this));
 }
 
 bool isMsgEmpty(const sensor_msgs::JointState& msg)
diff --git a/tesseract_rviz/src/ros_contact_results_render_manager.cpp b/tesseract_rviz/src/ros_contact_results_render_manager.cpp
@@ -49,7 +49,7 @@ struct ROSContactResultsRenderManager::Implementation
     // Destroy Resources
     for (const auto& ns : container.getUntrackedEntities())
     {
-      if (ns.first == container.RESOURCE_NS)
+      if (ns.first == tesseract_gui::EntityContainer::RESOURCE_NS)
       {
         for (const auto& entity : ns.second)
           scene_manager->destroyEntity(entity.unique_name);
@@ -59,7 +59,7 @@ struct ROSContactResultsRenderManager::Implementation
     // Destroy Scene Nodes
     for (const auto& ns : container.getUntrackedEntities())
     {
-      if (ns.first != container.RESOURCE_NS)
+      if (ns.first != tesseract_gui::EntityContainer::RESOURCE_NS)
       {
         for (const auto& entity : ns.second)
           scene_manager->destroySceneNode(entity.unique_name);
@@ -68,7 +68,7 @@ struct ROSContactResultsRenderManager::Implementation
 
     for (const auto& ns : container.getTrackedEntities())
     {
-      if (ns.first != container.RESOURCE_NS)
+      if (ns.first != tesseract_gui::EntityContainer::RESOURCE_NS)
       {
         for (const auto& entity : ns.second)
           scene_manager->destroySceneNode(entity.second.unique_name);
@@ -123,13 +123,13 @@ void ROSContactResultsRenderManager::render()
 
   for (const auto& event : events_)
   {
-    if (event->type() == tesseract_gui::events::ContactResultsClear::kType)
+    if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_CLEAR)
     {
       auto& e = static_cast<tesseract_gui::events::ContactResultsClear&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
       data_->clear(*entity_manager);
     }
-    else if (event->type() == tesseract_gui::events::ContactResultsRemove::kType)
+    else if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_REMOVE)
     {
       auto& e = static_cast<tesseract_gui::events::ContactResultsRemove&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
@@ -145,7 +145,7 @@ void ROSContactResultsRenderManager::render()
         ROS_ERROR("ROSContactResultsRenderManager, removing child elements is currently not supported");
       }
     }
-    else if (event->type() == tesseract_gui::events::ContactResultsSet::kType)
+    else if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_SET)
     {
       auto& e = static_cast<tesseract_gui::events::ContactResultsSet&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
@@ -231,7 +231,7 @@ void ROSContactResultsRenderManager::render()
         }
       }
     }
-    else if (event->type() == tesseract_gui::events::ContactResultsVisbility::kType)
+    else if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_VISIBILITY)
     {
       auto& e = static_cast<tesseract_gui::events::ContactResultsVisbility&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
@@ -270,7 +270,7 @@ void ROSContactResultsRenderManager::render()
         }
       }
     }
-    else if (event->type() == tesseract_gui::events::ContactResultsVisbilityAll::kType)
+    else if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_VISIBILITY_ALL)
     {
       auto& e = static_cast<tesseract_gui::events::ContactResultsVisbilityAll&>(*event);
       const bool visibility = e.getVisibility();
diff --git a/tesseract_rviz/src/ros_scene_graph_render_manager.cpp b/tesseract_rviz/src/ros_scene_graph_render_manager.cpp
@@ -125,27 +125,27 @@ void ROSSceneGraphRenderManager::render()
 
   for (const auto& event : events_)
   {
-    if (event->type() == tesseract_gui::events::SceneGraphClear::kType)
+    if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_CLEAR)
     {
       auto& e = static_cast<tesseract_gui::events::SceneGraphClear&>(*event);
       data_->clear(e.getComponentInfo());
     }
-    else if (event->type() == tesseract_gui::events::SceneGraphSet::kType)
+    else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_SET)
     {
       auto& e = static_cast<tesseract_gui::events::SceneGraphSet&>(*event);
       data_->clear(e.getComponentInfo());
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
       loadSceneGraph(*data_->scene_manager, *data_->scene_node, *entity_manager, *e.getSceneGraph(), "");
     }
-    else if (event->type() == tesseract_gui::events::SceneGraphAddLink::kType)
+    else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_ADD_LINK)
     {
       auto& e = static_cast<tesseract_gui::events::SceneGraphAddLink&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
       auto entity_container = entity_manager->getEntityContainer(e.getLink()->getName());
       Ogre::SceneNode* sn = loadLink(*data_->scene_manager, *entity_container, *e.getLink());
       data_->scene_node->addChild(sn);
     }
-    else if (event->type() == tesseract_gui::events::SceneGraphRemoveLink::kType)
+    else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_REMOVE_LINK)
     {
       auto& e = static_cast<tesseract_gui::events::SceneGraphRemoveLink&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
@@ -157,7 +157,7 @@ void ROSSceneGraphRenderManager::render()
         entity_manager->removeEntityContainer(e.getLinkName());
       }
     }
-    else if (event->type() == tesseract_gui::events::SceneGraphModifyLinkVisibility::kType)
+    else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_MODIFY_LINK_VISIBILITY)
     {
       auto& e = static_cast<tesseract_gui::events::SceneGraphModifyLinkVisibility&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
@@ -254,7 +254,7 @@ void ROSSceneGraphRenderManager::render()
         }
       }
     }
-    else if (event->type() == tesseract_gui::events::SceneGraphModifyLinkVisibilityALL::kType)
+    else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_MODIFY_LINK_VISIBILITY_ALL)
     {
       auto& e = static_cast<tesseract_gui::events::SceneGraphModifyLinkVisibilityALL&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());
@@ -322,7 +322,7 @@ void ROSSceneGraphRenderManager::render()
         }
       }
     }
-    else if (event->type() == tesseract_gui::events::SceneStateChanged::kType)
+    else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_STATE_CHANGED)
     {
       auto& e = static_cast<tesseract_gui::events::SceneStateChanged&>(*event);
       tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());

Original file line number	Diff line number	Diff line change
`@@ -138,7 +138,8 @@ std::shared_ptr<tesseract_common::Resource> ROSResourceLocator::locateResource(c`
`138`	`138`	`template <class Archive>`
`139`	`139`	`void ROSResourceLocator::serialize(Archive& ar, const unsigned int /version/)`
`140`	`140`	`{`
`141`		`- ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(tesseract_common::ResourceLocator);`
	`141`	`+ ar& boost::serialization::make_nvp("ResourceLocator",`
	`142`	`+ boost::serialization::base_object<tesseract_common::ResourceLocator>(*this));`
`142`	`143`	`}`
`143`	`144`
`144`	`145`	`bool isMsgEmpty(const sensor_msgs::JointState& msg)`
Original file line number	Diff line number	Diff line change
`@@ -49,7 +49,7 @@ struct ROSContactResultsRenderManager::Implementation`
`49`	`49`	`// Destroy Resources`
`50`	`50`	`for (const auto& ns : container.getUntrackedEntities())`
`51`	`51`	`{`
`52`		`- if (ns.first == container.RESOURCE_NS)`
	`52`	`+ if (ns.first == tesseract_gui::EntityContainer::RESOURCE_NS)`
`53`	`53`	`{`
`54`	`54`	`for (const auto& entity : ns.second)`
`55`	`55`	`scene_manager->destroyEntity(entity.unique_name);`
`@@ -59,7 +59,7 @@ struct ROSContactResultsRenderManager::Implementation`
`59`	`59`	`// Destroy Scene Nodes`
`60`	`60`	`for (const auto& ns : container.getUntrackedEntities())`
`61`	`61`	`{`
`62`		`- if (ns.first != container.RESOURCE_NS)`
	`62`	`+ if (ns.first != tesseract_gui::EntityContainer::RESOURCE_NS)`
`63`	`63`	`{`
`64`	`64`	`for (const auto& entity : ns.second)`
`65`	`65`	`scene_manager->destroySceneNode(entity.unique_name);`
`@@ -68,7 +68,7 @@ struct ROSContactResultsRenderManager::Implementation`
`68`	`68`
`69`	`69`	`for (const auto& ns : container.getTrackedEntities())`
`70`	`70`	`{`
`71`		`- if (ns.first != container.RESOURCE_NS)`
	`71`	`+ if (ns.first != tesseract_gui::EntityContainer::RESOURCE_NS)`
`72`	`72`	`{`
`73`	`73`	`for (const auto& entity : ns.second)`
`74`	`74`	`scene_manager->destroySceneNode(entity.second.unique_name);`
`@@ -123,13 +123,13 @@ void ROSContactResultsRenderManager::render()`
`123`	`123`
`124`	`124`	`for (const auto& event : events_)`
`125`	`125`	`{`
`126`		`- if (event->type() == tesseract_gui::events::ContactResultsClear::kType)`
	`126`	`+ if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_CLEAR)`
`127`	`127`	`{`
`128`	`128`	`auto& e = static_cast<tesseract_gui::events::ContactResultsClear&>(*event);`
`129`	`129`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`130`	`130`	`data_->clear(*entity_manager);`
`131`	`131`	`}`
`132`		`- else if (event->type() == tesseract_gui::events::ContactResultsRemove::kType)`
	`132`	`+ else if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_REMOVE)`
`133`	`133`	`{`
`134`	`134`	`auto& e = static_cast<tesseract_gui::events::ContactResultsRemove&>(*event);`
`135`	`135`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`@@ -145,7 +145,7 @@ void ROSContactResultsRenderManager::render()`
`145`	`145`	`ROS_ERROR("ROSContactResultsRenderManager, removing child elements is currently not supported");`
`146`	`146`	`}`
`147`	`147`	`}`
`148`		`- else if (event->type() == tesseract_gui::events::ContactResultsSet::kType)`
	`148`	`+ else if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_SET)`
`149`	`149`	`{`
`150`	`150`	`auto& e = static_cast<tesseract_gui::events::ContactResultsSet&>(*event);`
`151`	`151`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`@@ -231,7 +231,7 @@ void ROSContactResultsRenderManager::render()`
`231`	`231`	`}`
`232`	`232`	`}`
`233`	`233`	`}`
`234`		`- else if (event->type() == tesseract_gui::events::ContactResultsVisbility::kType)`
	`234`	`+ else if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_VISIBILITY)`
`235`	`235`	`{`
`236`	`236`	`auto& e = static_cast<tesseract_gui::events::ContactResultsVisbility&>(*event);`
`237`	`237`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`@@ -270,7 +270,7 @@ void ROSContactResultsRenderManager::render()`
`270`	`270`	`}`
`271`	`271`	`}`
`272`	`272`	`}`
`273`		`- else if (event->type() == tesseract_gui::events::ContactResultsVisbilityAll::kType)`
	`273`	`+ else if (event->type() == tesseract_gui::events::EventType::CONTACT_RESULTS_VISIBILITY_ALL)`
`274`	`274`	`{`
`275`	`275`	`auto& e = static_cast<tesseract_gui::events::ContactResultsVisbilityAll&>(*event);`
`276`	`276`	`const bool visibility = e.getVisibility();`
Original file line number	Diff line number	Diff line change
`@@ -125,27 +125,27 @@ void ROSSceneGraphRenderManager::render()`
`125`	`125`
`126`	`126`	`for (const auto& event : events_)`
`127`	`127`	`{`
`128`		`- if (event->type() == tesseract_gui::events::SceneGraphClear::kType)`
	`128`	`+ if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_CLEAR)`
`129`	`129`	`{`
`130`	`130`	`auto& e = static_cast<tesseract_gui::events::SceneGraphClear&>(*event);`
`131`	`131`	`data_->clear(e.getComponentInfo());`
`132`	`132`	`}`
`133`		`- else if (event->type() == tesseract_gui::events::SceneGraphSet::kType)`
	`133`	`+ else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_SET)`
`134`	`134`	`{`
`135`	`135`	`auto& e = static_cast<tesseract_gui::events::SceneGraphSet&>(*event);`
`136`	`136`	`data_->clear(e.getComponentInfo());`
`137`	`137`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`138`	`138`	`loadSceneGraph(data_->scene_manager, data_->scene_node, entity_manager, e.getSceneGraph(), "");`
`139`	`139`	`}`
`140`		`- else if (event->type() == tesseract_gui::events::SceneGraphAddLink::kType)`
	`140`	`+ else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_ADD_LINK)`
`141`	`141`	`{`
`142`	`142`	`auto& e = static_cast<tesseract_gui::events::SceneGraphAddLink&>(*event);`
`143`	`143`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`144`	`144`	`auto entity_container = entity_manager->getEntityContainer(e.getLink()->getName());`
`145`	`145`	`Ogre::SceneNode* sn = loadLink(data_->scene_manager, entity_container, *e.getLink());`
`146`	`146`	`data_->scene_node->addChild(sn);`
`147`	`147`	`}`
`148`		`- else if (event->type() == tesseract_gui::events::SceneGraphRemoveLink::kType)`
	`148`	`+ else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_REMOVE_LINK)`
`149`	`149`	`{`
`150`	`150`	`auto& e = static_cast<tesseract_gui::events::SceneGraphRemoveLink&>(*event);`
`151`	`151`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`@@ -157,7 +157,7 @@ void ROSSceneGraphRenderManager::render()`
`157`	`157`	`entity_manager->removeEntityContainer(e.getLinkName());`
`158`	`158`	`}`
`159`	`159`	`}`
`160`		`- else if (event->type() == tesseract_gui::events::SceneGraphModifyLinkVisibility::kType)`
	`160`	`+ else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_MODIFY_LINK_VISIBILITY)`
`161`	`161`	`{`
`162`	`162`	`auto& e = static_cast<tesseract_gui::events::SceneGraphModifyLinkVisibility&>(*event);`
`163`	`163`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`@@ -254,7 +254,7 @@ void ROSSceneGraphRenderManager::render()`
`254`	`254`	`}`
`255`	`255`	`}`
`256`	`256`	`}`
`257`		`- else if (event->type() == tesseract_gui::events::SceneGraphModifyLinkVisibilityALL::kType)`
	`257`	`+ else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_MODIFY_LINK_VISIBILITY_ALL)`
`258`	`258`	`{`
`259`	`259`	`auto& e = static_cast<tesseract_gui::events::SceneGraphModifyLinkVisibilityALL&>(*event);`
`260`	`260`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`
`@@ -322,7 +322,7 @@ void ROSSceneGraphRenderManager::render()`
`322`	`322`	`}`
`323`	`323`	`}`
`324`	`324`	`}`
`325`		`- else if (event->type() == tesseract_gui::events::SceneStateChanged::kType)`
	`325`	`+ else if (event->type() == tesseract_gui::events::EventType::SCENE_GRAPH_STATE_CHANGED)`
`326`	`326`	`{`
`327`	`327`	`auto& e = static_cast<tesseract_gui::events::SceneStateChanged&>(*event);`
`328`	`328`	`tesseract_gui::EntityManager::Ptr entity_manager = getEntityManager(e.getComponentInfo());`