Merge branch 'main' into pr-fix_inter_markers_fixed_frame

moveit · Jan 18, 2022 · 6b73fc4 · 6b73fc4
2 parents 196af08 + 5073795
commit 6b73fc4
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Showing 9 changed files with 2,440 additions and 14 deletions.
diff --git a/Doxyfile b/Doxyfile
diff --git a/README.md b/README.md
@@ -35,6 +35,9 @@ See the [MoveItCpp Tutorial](https://moveit.picknik.ai/foxy/doc/moveit_cpp/movei
 The [Move Group C++ Interface](https://moveit.picknik.ai/foxy/doc/move_group_interface/move_group_interface_tutorial.html) provides a simple launch file for running a MoveGroup setup.
 You can test it using the MotionPlanning display in RViz or by implementing your own MoveGroupInterface application.
 
+## Having Doxygen Reference Locally
+See [How To Generate API Doxygen Reference Locally](https://moveit.picknik.ai/main/doc/how_to_guides/how_to_generate_api_doxygen_locally.html)
+
 ## Supporters
 
 This open source project is maintained by supporters from around the world — see [MoveIt maintainers](https://moveit.ros.org/about/). Special thanks to contributor from Intel and Open Robotics.

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -10,9 +10,6 @@ find_package(rclcpp REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-# Finds Boost Components
-include(ConfigExtras.cmake)
-
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
 # replace LIBFCL_LIBRARIES with full paths to the libraries
@@ -52,6 +49,9 @@ find_package(pluginlib REQUIRED)
 # TODO: Port python bindings
 # find_package(pybind11 REQUIRED)
 
+# Finds Boost Components
+include(ConfigExtras.cmake)
+
 # Set target file path for version.h
 set(VERSION_FILE_PATH ${CMAKE_BINARY_DIR}/include)
 

diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt
@@ -16,7 +16,6 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   tf2_eigen
   OCTOMAP
 )
-target_link_libraries(${MOVEIT_LIB_NAME} Boost::iostreams)
 
 install(DIRECTORY include/ DESTINATION include)
 

diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt
@@ -14,7 +14,7 @@ install(DIRECTORY include/ DESTINATION include)
 find_package(ament_index_cpp REQUIRED)
 set(MOVEIT_TEST_LIB_NAME moveit_test_utils)
 add_library(${MOVEIT_TEST_LIB_NAME} SHARED src/robot_model_test_utils.cpp)
-target_link_libraries(${MOVEIT_TEST_LIB_NAME} moveit_robot_model Boost::regex)
+target_link_libraries(${MOVEIT_TEST_LIB_NAME} moveit_robot_model)
 ament_target_dependencies(${MOVEIT_TEST_LIB_NAME}
   ament_index_cpp
   Boost

diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -12,9 +12,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wno-pedantic)
 endif()
 
-# Finds Boost Components
-include(ConfigExtras.cmake)
-
 if(APPLE)
   find_package(X11 REQUIRED)
 endif()
@@ -27,6 +24,9 @@ find_package(octomap REQUIRED)
 find_package(geometric_shapes REQUIRED)
 find_package(tf2_ros REQUIRED)
 
+# Finds Boost Components
+include(ConfigExtras.cmake)
+
 include_directories(include)
 include_directories(SYSTEM
   ${EIGEN3_INCLUDE_DIRS}
@@ -52,7 +52,6 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
-target_link_libraries(${MOVEIT_LIB_NAME} Boost::thread)
 
 add_executable(moveit_ros_occupancy_map_server src/occupancy_map_server.cpp)
 ament_target_dependencies(moveit_ros_occupancy_map_server

diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
@@ -11,9 +11,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wpedantic)
 endif()
 
-# Finds Boost Components
-include(ConfigExtras.cmake)
-
 if(WITH_OPENGL)
   # Prefer newer vendor-specific OpenGL library
   if(POLICY CMP0072)
@@ -62,6 +59,9 @@ find_package(Eigen3 REQUIRED)
 find_package(OpenMP REQUIRED)
 find_package(OpenCV)
 
+# Finds Boost Components
+include(ConfigExtras.cmake)
+
 set(THIS_PACKAGE_INCLUDE_DIRS
   depth_image_octomap_updater/include
   lazy_free_space_updater/include

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
@@ -79,7 +79,6 @@ add_subdirectory(move_group_interface)
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ros_testing REQUIRED)
-  find_package(Boost REQUIRED COMPONENTS filesystem)
 
   # TODO (vatanaksoytezer): Enable once this test is not flaky
   # Move group interface cpp ompl constrained planning integration test

diff --git a/moveit_ros/planning_interface/ConfigExtras.cmake b/moveit_ros/planning_interface/ConfigExtras.cmake
@@ -1,6 +1,5 @@
 # Extras module needed for dependencies to find boost components
 
-find_package(Boost REQUIRED)
 #if(Boost_VERSION LESS 106700)
 #  set(BOOST_PYTHON_COMPONENT python)
 #else()
-Original file line number
+Diff line change
@@ Expand Up / @@ -16,7 +16,6 @@ ament_target_dependencies(${MOVEIT_LIB_NAME} @@
       tf2_eigen
       OCTOMAP
     )
-    target_link_libraries(${MOVEIT_LIB_NAME} Boost::iostreams)
     install(DIRECTORY include/ DESTINATION include)
@@ Expand Down @@