Update tesseract version to 0.32.X (#277)

Author: Levi-Armstrong

.add-gazebo-ppa

@@ -1,4 +1,7 @@
 #!/bin/bash
-sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-apt-get update
+apt update
+apt install curl python3-pip -y
+pip install cmake
+sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" > /etc/apt/sources.list.d/gazebo-stable.list'
+curl -fsSL https://packages.osrfoundation.org/gazebo.gpg | apt-key add -
+apt update

.github/workflows/clang_tidy.yml

@@ -15,18 +15,18 @@ jobs:
     env:
       CI_NAME: Clang-Tidy
       OS_NAME: ubuntu
-      OS_CODE_NAME: bionic
+      OS_CODE_NAME: focal
       ROS_DISTRO: noetic
       ROS_REPO: main
       BEFORE_INIT: './.add-gazebo-ppa'
       UPSTREAM_WORKSPACE: 'dependencies_unstable.rosinstall'
-      ROSDEP_SKIP_KEYS: "bullet bullet-extras ros_industrial_cmake_boilerplate fcl iwyu taskflow gz-rendering7 gz-common5 gz-math7"
+      ROSDEP_SKIP_KEYS: "gz-rendering7 gz-common5 gz-math7"
       ADDITIONAL_DEBS: "libgz-rendering7-dev libgz-common5-dev libgz-math7-dev"
-      DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
+      DOCKER_IMAGE: "ros:noetic"
       CCACHE_DIR: "/home/runner/work/tesseract_ros/tesseract_ros/Clang-Tidy/.ccache"
       NOT_TEST_BUILD: true
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
-      TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DCMAKE_POLICY_VERSION_MINIMUM=3.5"
+      TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON -DCMAKE_POLICY_VERSION_MINIMUM=3.5"
     steps:
       - uses: actions/checkout@v1
 

.github/workflows/focal_build.yml

@@ -20,15 +20,15 @@ jobs:
       ROS_REPO: main
       BEFORE_INIT: './.add-gazebo-ppa'
       UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
-      ROSDEP_SKIP_KEYS: "bullet bullet-extras ros_industrial_cmake_boilerplate fcl iwyu taskflow gz-rendering7 gz-common5 gz-math7"
-      ADDITIONAL_DEBS: "libgz-rendering7-dev libgz-common5-dev libgz-math7-dev"
-      DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
+      ROSDEP_SKIP_KEYS: "gz-rendering7 gz-common5 gz-math7"
+      ADDITIONAL_DEBS: "wget libgz-rendering7-dev libgz-common5-dev libgz-math7-dev"
+      DOCKER_IMAGE: "ros:noetic"
       PARALLEL_TESTS: false
       NOT_TEST_BUILD: true
       BEFORE_RUN_TARGET_TEST_EMBED: "source /root/target_ws/install/setup.bash"
       CCACHE_DIR: "/home/runner/work/tesseract_ros/tesseract_ros/Focal-Build/.ccache"
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5"
+      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DCMAKE_POLICY_VERSION_MINIMUM=3.5"
     steps:
       - uses: actions/checkout@v1
 

.github/workflows/unstable_build.yml

@@ -20,14 +20,14 @@ jobs:
       ROS_REPO: main
       BEFORE_INIT: './.add-gazebo-ppa'
       UPSTREAM_WORKSPACE: 'dependencies_unstable.rosinstall'
-      ROSDEP_SKIP_KEYS: "bullet bullet-extras ros_industrial_cmake_boilerplate fcl iwyu taskflow gz-rendering7 gz-common5 gz-math7"
-      ADDITIONAL_DEBS: "libgz-rendering7-dev libgz-common5-dev libgz-math7-dev"
-      DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
+      ROSDEP_SKIP_KEYS: "gz-rendering7 gz-common5 gz-math7"
+      ADDITIONAL_DEBS: "wget libgz-rendering7-dev libgz-common5-dev libgz-math7-dev"
+      DOCKER_IMAGE: "ros:noetic"
       NOT_TEST_BUILD: true
       BEFORE_RUN_TARGET_TEST_EMBED: "source /root/target_ws/install/setup.bash"
       CCACHE_DIR: "/home/runner/work/tesseract_ros/tesseract_ros/Unstable-Build/.ccache"
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5"
+      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON -DCMAKE_POLICY_VERSION_MINIMUM=3.5"
     steps:
       - uses: actions/checkout@v1
 

dependencies.rosinstall

@@ -5,27 +5,27 @@
 - git:
     local-name: boost_plugin_loader
     uri: https://github.com/tesseract-robotics/boost_plugin_loader.git
-    version: 0.3.0
+    version: 0.3.2
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.31.0
+    version: 0.32.0
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
-    version: 0.31.0
+    version: 0.32.0
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.31.0
+    version: 0.32.0
 - git:
     local-name: tesseract_qt
     uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.31.0
+    version: 0.32.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.4.6
+    version: 0.4.9
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

dependencies_with_ext.rosinstall

@@ -5,31 +5,31 @@
 - git:
     local-name: boost_plugin_loader
     uri: https://github.com/tesseract-robotics/boost_plugin_loader.git
-    version: 0.3.0
+    version: 0.3.2
 - 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: 0.31.0
+    version: 0.32.0
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt_ros.git
-    version: 0.31.0
+    version: 0.32.0
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.31.0
+    version: 0.32.0
 - git:
     local-name: tesseract_qt
     uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.31.0
+    version: 0.32.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.4.6
+    version: 0.4.9
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git