Skip to content

Commit ea9b8c8

Browse files
rjoomenrjoomen
committed
Update to latest tesseract
1 parent fd97203 commit ea9b8c8

File tree

4 files changed

+18
-31
lines changed

4 files changed

+18
-31
lines changed

‎tesseract_planning_server/src/tesseract_planning_server.cpp‎

Lines changed: 2 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -269,22 +269,8 @@ void TesseractPlanningServer::onMotionPlanningCallback(
269269

270270
// Generate DOT Graph if requested
271271
if (goal->request.dotgraph)
272-
{
273-
try
274-
{
275-
// Save dot graph
276-
const tesseract_planning::TaskComposerNode& task = planning_server_->getTask(plan_future->context->name);
277-
std::stringstream dotgraph;
278-
task.dump(dotgraph, nullptr, plan_future->context->task_infos.getInfoMap());
279-
result->response.dotgraph = dotgraph.str();
280-
}
281-
catch (const std::exception& e)
282-
{
283-
std::ostringstream oss;
284-
oss << "Failed to generated DOT Graph: '" << e.what() << "'!" << std::endl;
285-
RCLCPP_ERROR_STREAM(node_->get_logger(), oss.str());
286-
}
287-
}
272+
result->response.dotgraph = planning_server_->getTask(plan_future->context->name)
273+
.getDotgraph(plan_future->context->task_infos.getInfoMap());
288274

289275
try
290276
{

‎tesseract_rosutils/test/CMakeLists.txt‎

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,16 +1,15 @@
11
find_gtest()
2-
find_package(tesseract_support REQUIRED)
32

43
add_executable(${PROJECT_NAME}_unit tesseract_rosutils_unit.cpp)
5-
target_link_libraries(${PROJECT_NAME}_unit GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_support tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
4+
target_link_libraries(${PROJECT_NAME}_unit GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
65
target_compile_options(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS})
76
target_clang_tidy(${PROJECT_NAME}_unit ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
87
target_cxx_version(${PROJECT_NAME}_unit PUBLIC VERSION 17)
98
add_gtest_discover_tests(${PROJECT_NAME}_unit)
109

1110
add_executable(${PROJECT_NAME}_geometry_msg_conversions tesseract_rosutils_geometry_msg_conversions.cpp)
12-
target_link_libraries(${PROJECT_NAME}_geometry_msg_conversions GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_support tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
11+
target_link_libraries(${PROJECT_NAME}_geometry_msg_conversions GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
1312
target_compile_options(${PROJECT_NAME}_geometry_msg_conversions PRIVATE ${TESSERACT_COMPILE_OPTIONS})
1413
target_clang_tidy(${PROJECT_NAME}_geometry_msg_conversions ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
1514
target_cxx_version(${PROJECT_NAME}_geometry_msg_conversions PUBLIC VERSION 17)
16-
add_gtest_discover_tests(${PROJECT_NAME}_geometry_msg_conversions)
15+
add_gtest_discover_tests(${PROJECT_NAME}_geometry_msg_conversions)

‎tesseract_rosutils/test/tesseract_rosutils_geometry_msg_conversions.cpp‎

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -27,12 +27,12 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
2727
#include <gtest/gtest.h>
2828
TESSERACT_COMMON_IGNORE_WARNINGS_POP
2929

30+
#include <tesseract_common/resource_locator.h>
3031
#include <tesseract_common/unit_test_utils.h>
3132
#include <tesseract_common/utils.h>
3233
#include <tesseract_geometry/geometries.h>
3334
#include <tesseract_geometry/impl/octree_utils.h>
3435
#include <tesseract_geometry/mesh_parser.h>
35-
#include <tesseract_support/tesseract_support_resource_locator.h>
3636

3737
#include <tesseract_msgs/msg/geometry.h>
3838
#include <tesseract_rosutils/utils.h>
@@ -78,8 +78,8 @@ TEST(TesseractRosutilsGeometryMsgConversions, Cone) // NOLINT
7878

7979
TEST(TesseractRosutilsGeometryMsgConversions, ConvexMesh) // NOLINT
8080
{
81-
std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl";
82-
tesseract_common::TesseractSupportResourceLocator locator;
81+
tesseract_common::GeneralResourceLocator locator;
82+
std::string path = locator.locateResource("package://tesseract_support/meshes/sphere_p25m.stl")->getFilePath();
8383
auto object = tesseract_geometry::createMeshFromResource<tesseract_geometry::ConvexMesh>(
8484
locator.locateResource(path), Eigen::Vector3d(.1, .2, .3), true, true, true, true, true);
8585
testToMsgFromMsg(*object.back());
@@ -93,8 +93,8 @@ TEST(TesseractRosutilsGeometryMsgConversions, Cylinder) // NOLINT
9393

9494
TEST(TesseractRosutilsGeometryMsgConversions, Mesh) // NOLINT
9595
{
96-
std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl";
97-
tesseract_common::TesseractSupportResourceLocator locator;
96+
tesseract_common::GeneralResourceLocator locator;
97+
std::string path = locator.locateResource("package://tesseract_support/meshes/sphere_p25m.stl")->getFilePath();
9898
auto object = tesseract_geometry::createMeshFromResource<tesseract_geometry::Mesh>(
9999
locator.locateResource(path), Eigen::Vector3d(.1, .2, .3), true, true, true, true, true);
100100
testToMsgFromMsg(*object.back());
@@ -141,17 +141,17 @@ TEST(TesseractRosutilsGeometryMsgConversions, Plane) // NOLINT
141141

142142
TEST(TesseractRosutilsGeometryMsgConversions, PolygonMesh) // NOLINT
143143
{
144-
std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl";
145-
tesseract_common::TesseractSupportResourceLocator locator;
144+
tesseract_common::GeneralResourceLocator locator;
145+
std::string path = locator.locateResource("package://tesseract_support/meshes/sphere_p25m.stl")->getFilePath();
146146
auto object = tesseract_geometry::createMeshFromResource<tesseract_geometry::PolygonMesh>(
147147
locator.locateResource(path), Eigen::Vector3d(.1, .2, .3), true, true, true, true, true);
148148
testToMsgFromMsg(*object.back());
149149
}
150150

151151
TEST(TesseractRosutilsGeometryMsgConversions, SDFMesh) // NOLINT
152152
{
153-
std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl";
154-
tesseract_common::TesseractSupportResourceLocator locator;
153+
tesseract_common::GeneralResourceLocator locator;
154+
std::string path = locator.locateResource("package://tesseract_support/meshes/sphere_p25m.stl")->getFilePath();
155155
auto object = tesseract_geometry::createMeshFromResource<tesseract_geometry::SDFMesh>(
156156
locator.locateResource(path), Eigen::Vector3d(.1, .2, .3), true, true, true, true, true);
157157
testToMsgFromMsg(*object.back());

‎tesseract_rosutils/test/tesseract_rosutils_unit.cpp‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -39,8 +39,10 @@ class TesseractROSUtilsUnit : public ::testing::Test
3939
{
4040
auto locator = std::make_shared<ROSResourceLocator>();
4141
env_ = std::make_shared<Environment>();
42-
boost::filesystem::path urdf_path(std::string(TESSERACT_SUPPORT_DIR) + "/urdf/abb_irb2400.urdf");
43-
boost::filesystem::path srdf_path(std::string(TESSERACT_SUPPORT_DIR) + "/urdf/abb_irb2400.srdf");
42+
boost::filesystem::path urdf_path(
43+
locator->locateResource("package://tesseract_support/urdf/abb_irb2400.urdf")->getFilePath());
44+
boost::filesystem::path srdf_path(
45+
locator->locateResource("package://tesseract_support/urdf/abb_irb2400.srdf")->getFilePath());
4446
EXPECT_TRUE(env_->init(urdf_path, srdf_path, locator));
4547
}
4648
};

0 commit comments

Comments
 (0)